Kinetix 6000 Multi-axis Servo Drives

Transcription

1 Chapter 5 The Kinetix 6000 multi-axis servo drives provide powerful simplicity to handle even the most demanding applications quickly, easily, and cost-effectively. By providing advanced control capability along with innovative design and installation features, the Kinetix 6000 drives significantly improve system performance while saving time and money. The compact size, simplified wiring, and easy-to-use components make the Kinetix 6000 drives an ideal choice for both OEMs and end-users. Target applications for the Kinetix 6000 drives include packaging, material handling, converting, and assembly. The Kinetix 6000 multi-axis servo drives are part of the Kinetix Integrated Motion solution. Topic Page Kinetix 6000 Servo Drive Components 275 Kinetix 6000 Integrated xis Modules 284 Kinetix 6000 xis Modules 289 Kinetix 6000 General System Specifications 293 Kinetix 6000 Connector, Indicator, and Switch Locations 299 Kinetix 6000 Servo Drive Components Kinetix 6000 servo drive systems consist of these required components: One integrated axis module (IM or leader IM), 2094-Cxx-Mxx-S (230V) or 2094-BCxx-Mxx-S (460V) Up to seven axis modules, 2094-Mxx-S (230V) or 2094-BMxx-S (460V) One power rail, 2094-PRS1, 2094-PRS2, 2094-PRS3, 2094-PRS4, 2094-PRS5, 2094-PRS6, 2094-PRS7, or 2094-PRS8 One to eight MP-Series, TL-Series, LDC-Series, LDL-Series, or RDD-Series rotary servo motors or linear motors/actuators. RDD-Series motors require the 2090-K6CK-KENDT low-profile feedback module, all others require the 2090-K6CK-D15M low-profile connector kit for flying-lead feedback cables. One to eight motor power and feedback cables Two to nine SERCOS fiber-optic cables Rockwell utomation Publication GMC-SG001Q-EN-P - pril

2 Chapter 5 Kinetix 6000 systems may also include any of these optional components: One or more integrated axis modules used as follower IM, 2094-Cxx-Mxx-S (230V) or 2094-BCxx-Mxx-S (460V) and associated axis modules, power rails, motors, and cables as required for the application One shunt module, 2094-BSP2 with optional Bulletin 1394 external passive shunt module Slot-filler modules, 2094-PRF Bulletin 2094 Line Interface Module (LIM) Bulletin 2090 Resistive Brake Module (RBM) Bulletin 1336 external active shunt module (dynamic brake) Kinetix 6000 IM/M Module Series Change The peak current ratings of the Kinetix 6000 M modules (series and B) are configured at the factory as 150% of continuous current. You can program 460V (series B) M modules and the equivalent IM (inverter) modules, for up to 250% of continuous inverter current. Kinetix 6000 Series Change IM Module M Module Series (inverter) Peak Current Rating Series B (inverter) 2094-BC01-MP5-S 2094-BMP5-S 150% 250% 2094-BC01-M01-S 2094-BM01-S 150% 250% 2094-BC02-M02-S 2094-BM02-S 150% 250% 2094-BC04-M03-S 2094-BM03-S 150% 250% 2094-BC07-M05-S 2094-BM05-S 150% 200% IMPORTNT Before your drive will deliver up to 250% peak performance, you must enable the peak enhancement feature by configuring your drive by using DriveExplorer or RSLogix 5000 software. Refer to the Kinetix 6000 Multi-axis Servo Drive User Manual, publication 2094-UM001, to recalculate torque and accel/decel limit values, and paste them into the appropriate xis Properties dialog box in RSLogix 5000 software. For sizing your drive/motor combination by using series-b drives and the peak enhancement feature, use Motion nalyzer software, version 4.6 or later. 276 Rockwell utomation Publication GMC-SG001Q-EN-P - pril 2011

3 MIN VC SERIES MDE IN US Chapter 5 Typical Hardware Configurations Kinetix 6000 System (with LIM module) 2090-XXLF-xxxx C Line Filter (required for CE) Kinetix 6000 Multi-axis Servo Drive System Three-Phase Input Power 115/230V Control Power 2094-BSP2 Shunt Module (optional component) 2094-xCxx-Mxx-S IM Module 2094-PRF Slot-filler Module (required to fill any unused slots) 2094-PRSx Power Rail 2094-xLxxS Line Interface Module (optional component) I/O Connections 2094-xMxx-S xis Modules (5) To Input Sensors and Control String Bulletin 2090 Motor Feedback Cables 2090-K6CK-Dxxx Low Profile Connector Kits for I/O, Motor Feedback, and ux Feedback Bulletin 2090 Motor Power Cables MP-Series and TL-Series (1) Rotary Motors (MPL-Bxxxx motors shown) MP-Series Integrated Linear Stages (MPS-B9xxx ballscrew shown) RDD-Series Direct Drive Motors (2) (RDB-Bxxxx motor shown) LDC-Series Linear Motors (LDC-Cxxxxxxx linear motor shown) MP-Series Heavy Duty Electric Cylinders (MPI-Bxxxx electric cylinders shown) CT. NO. LDC-M SERIL NO. XXXX X XXXX LDL-Series Linear Motors (LDL-xxxxxxxx linear motor shown) MP-Series Electric Cylinders (MPR-Bxxxx electric cylinder shown) (1) Kinetix 6000 drives are compatible with only TL-Series (Bulletin TLY-xxxx-H) motors with incremental encoders. (2) RDD-Series direct-drive motors require the 2090-K6CK-KENDT low-profile feedback module for Kinetix 6000 drive applications. Rockwell utomation Publication GMC-SG001Q-EN-P - pril

4 SERIES MDE IN US Chapter 5 Kinetix 6000 System (without LIM module) Three-phase Input Power Line Disconnect Device Input Fusing Magnetic Contactor Single-phase Control Power 2090-XXLF-xxxx C Line Filter (required for CE) Kinetix 6000 Multi-axis Servo Drive System 2094-BSP2 Shunt Module (optional component) 2094-xCxx-Mxx-S IM Module 2094-PRF Slot-filler Module (required to fill any unused slots) I/O Connections To Input Sensors and Control String 2094-PRSx Power Rail 2094-xMxx-S xis Modules (5) Bulletin 2090 Motor Feedback Cables 2090-K6CK-Dxxx Low Profile Connector Kits for I/O, Motor Feedback, and ux Feedback Bulletin 2090 Motor Power Cables MP-Series and TL-Series (1) Rotary Motors (MPL-xxxx motors shown) MP-Series Integrated Linear Stages (MPS-B9xxx ballscrew shown) RDD-Series Direct Drive Motors (2) (RDB-Bxxxx motor shown) LDC-Series Linear Motors (LDC-Cxxxxxxx linear motor shown) MP-Series Heavy Duty Electric Cylinders (MPI-Bxxxx electric cylinders shown) CT. NO. LDC-M SERIL NO. XXXX X XXXX LDL-Series Linear Motors (LDL-xxxxxxxx linear motor shown) MP-Series Electric Cylinders (MPR-Bxxxx electric cylinder shown) (1) Kinetix 6000 drives are compatible with only TL-Series (Bulletin TLY-xxxx-H) motors with incremental encoders. (2) RDD-Series direct-drive motors require the 2090-K6CK-KENDT low-profile feedback module for Kinetix 6000 drive applications. 278 Rockwell utomation Publication GMC-SG001Q-EN-P - pril 2011

5 Chapter 5 In the Kinetix 6000 system configuration below, the leader IM module is connected to the follower IM module via the DC common bus. When planning your panel layout, you must calculate the total bus capacitance of your DC common bus system to make sure that the leader IM module is sized sufficiently to pre-charge the entire system. Refer to the Kinetix 6000 Servo Drive User Manual, publication 2094-UM001, when making this calculation. IMPORTNT If total bus capacitance of your system exceeds the leader IM module pre-charge rating, the IM module seven-segment status will display error code E90 (pre-charge timeout fault) if input power is applied. To correct this condition, you must replace the leader IM module with a larger module or decrease the total bus capacitance by removing axis modules. Kinetix 6000 System (DC common bus) Three-phase Input Power 2090-XXLF-xxxx C Line Filter (required for CE) 115/230V Control Power Kinetix 6000 Multi-axis Servo Drive System 2094-BSP2 Shunt Module (optional component) 2094-xCxx-Mxx-S IM Module Common Bus Leader 2094-PRF Slot-filler Module (required to fill any unused slots) 2094-xLxxS Line Interface Module (optional component) DC Common Bus 2094-PRSx Power Rail 2094-xMxx-S xis Modules (5) 2094-xCxx-Mxx-S IM Module Common Bus Follower 2094-PRF Slot-filler Module (required to fill any unused slots) 2094-PRSx Power Rail 2094-xMxx-S xis Modules (5) Motors and other details common to both three-phase C and DC common-bus configurations are removed. Rockwell utomation Publication GMC-SG001Q-EN-P - pril

6 SERCOS interface CP OK Tx (rear) Rx (front) SFE SPEED SFE SPEED Chapter 5 Typical Communication Configurations In this example, drive-to-drive SERCOS cable lengths and catalog numbers are shown for the Kinetix 6000 drives and when Kinetix 6000 and Kinetix 6200 drive modules exist on the same power rail. Kinetix 6000 Drive Communication (SERCOS) Logix Controller Programming Network Logix SERCOS interface Module Logix Platform (ControlLogix is shown) 2090-SCxxx-x SERCOS Fiber-optic Cable RSLogix 5000 Software 0.1 m (5.1 in.) Kinetix 6000 Drive-to-Drive SERCOS Cables 2094-xCxx-Mxx-S IM Module 2094-PRSx Power Rail 2094-BMxx-S xis Modules (5) Kinetix 6000 (top view) SERCOS Connectors RX TX TX RX Kinetix 6200 (top view) SERCOS Connectors 0.1 m (5.1 in.) 0.2 m (7.1 in.) 0.1 m (5.1 in.) 0.2 m (7.1 in.) 0.1 m (5.1 in.) Kinetix 6000 Single-wide 2094-BCxx-Mxx-S IM Module Kinetix 6000 Double-wide 2094-BCxx-Mxx-S IM Module BMxx-S Single-wide M Module 2094-BMxx-M Single-wide M Power Modules with 2094-SE02F-M00-Sx Control Modules 2094-BMxx-S Double-wide M Module 2094-BMxx-S Single-wide M Module 2094-BMxx-S Single-wide M Module 280 Rockwell utomation Publication GMC-SG001Q-EN-P - pril 2011

7 Chapter 5 Peak Enhancement Specifications Drives that support the Peak-enhanced mode have the capability of increasing the maximum inverter peak current to achieve greater overload performance. IMPORTNT The peak enhancement feature requires the use of RSLogix 5000 software and drive firmware as specified below. Peak Enhancement Software and Firmware Requirements IM Module M Module Kinetix 6000 Peak Overload Support RSLogix 5000 Software Version Kinetix 6000 Drive Firmware Revision 2094-BC01-MP5-S 2094-BMP5-S 16 or later or later 2094-BC01-M01-S 2094-BM01-S 16 or later or later 2094-BC02-M02-S 2094-BM02-S 16 or later or later 2094-BC04-M03-S 2094-BM03-S 17 or later or later 2094-BC07-M05-S 2094-BM05-S 17 or later or later IM/M Module 2094-BCxx-Mxx 2094-BMxx 2094-BCxx-Mxx-S 2094-BMxx-S Module Safe-off Drive Series Series B IM M IM M Non safe-off Standard Standard Safe-off Standard Standard or Peak enhanced (1) (1) Standard mode is enabled by default to preserve backward compatibility, but you can enable the Peak Enhanced mode to achieve increased peak current performance. Refer to Kinetix 6000 IM/M Module Series Change on page 276 for information on enabling the Peak Enhanced mode. Kinetix 6000 Peak Current Ratings IM/M Module Peak Inverter Current Rating Peak Converter Current Rating Standard Peak Enhanced Series Series B 2094-BC01-MP5-S 150% 250% 200% 250% 2094-BC01-M01-S 150% 250% 200% 250% 2094-BC02-M02-S 150% 250% 200% 250% 2094-BC04-M03-S 150% 250% 200% 250% 2094-BC07-M05-S 150% 200% 200% 300% 2094-BMP5-S 150% 250% N/ N/ 2094-BM01-S 150% 250% N/ N/ 2094-BM02-S 150% 250% N/ N/ 2094-BM03-S 150% 250% N/ N/ 2094-BM05-S 150% 200% N/ N/ Rockwell utomation Publication GMC-SG001Q-EN-P - pril

8 Chapter 5 Load Duty-cycle Profile Example I PK I Cont D = T TPK x 100% I Base T PK T Peak Duty-cycle Definition of Terms Term Definition (1) Continuous Current Rating (I Cont ) Peak Current Rating (I PKmax ) Duty Cycle (D) The maximum value of current that can be output continuously. The maximum value of peak current that the drive can output. This rating is valid only for overload times less than T PKmax. The ratio of time at peak to the pplication Period and is defined as: D = T TPK x 100% Time at Peak (T PK ) The time at peak current (I PK ) for a given loading profile. Must be less than or equal to T PKmax. Peak Current (I PK ) Base Current (I Base ) The level of peak current for a given loading profile. I PK must be less than or equal to the Peak Current Rating (T PKMX ) of the drive. The level of current between the pulses of peak current for a given loading profile. I Base must be less than or equal to the continuous current rating (I Cont) of the drive. Loading Profile (1) ll current values are specified as RMS. The loading profile is comprised of I PK, I Base, T PK, and D (or T) values and completely specify the operation of the drive in an overload situation. These values are collectively defined as the Loading Profile of the drive. pplication Period (T) The sum of the times at I PK (T PK ) and I Base. 282 Rockwell utomation Publication GMC-SG001Q-EN-P - pril 2011

9 Chapter 5 Peak Enhanced Inverter Mode (T PK < 2.0 s) 50% 45% Maximum Duty Cycle (D max ) 40% 35% 30% 25% 20% 15% 10% 5% 0% 0% 20% 40% 60% 80% 100% Legend (1) I = 150% PK I = 200% PK I = 250% PK pplies to these Kinetix 6000 drives: 2094-BC01-MP5-S, 2094-BMP5-S, 2094-BC01-M01-S, 2094-BM01-S, 2094-BC02-M02-S, 2094-BM02-S, 2094-BC04-M03-S, 2094-BM03-S % Base Current (I /I ) Base (1) Base current (I Base ) and peak current (I PK are a percentage of the continuous drive current rating (I Cont ). Peak Inverter Overload (T PK < 2.0 s) 50% 45% Cont Maximum Duty Cycle (D max ) 40% 35% 30% 25% 20% 15% 10% 5% Legend (1) I = 150% PK I = 200% PK pplies to these Kinetix 6000 drives: 2094-BC07-M05-S, 2094-BM05-S 0% 0% 20% 40% 60% 80% 100% % Base Current (I /I ) Base (1) Base current (I Base ) and peak current (I PK ) are a percentage of the continuous drive current rating (I Cont ). Cont Rockwell utomation Publication GMC-SG001Q-EN-P - pril

10 Chapter 5 Kinetix 6000 Integrated xis Modules This section contains power specifications, mounting dimensions, and catalog numbers for the Bulletin 2094 (230V and 460V) integrated axis modules (IM). Choose your IM module based on the converter and inverter power requirements of your application. Integrated xis Module (converter) Power Specifications IM Module (230V) Power Specifications ttribute 2094-C05-MP5-S 2094-C05-M01-S 2094-C09-M02-S 2094-C16-M03-S 2094-C32-M05-S C input voltage C input frequency Main C input current Nom (rms) Max inrush (0-pk) (1) DC input voltage (common-bus follower) V rms three-phase (230V nom) Hz V DC DC input current (common-bus follower) Control power C input voltage Control power C input current Nom (@ 220/230V C) rms Nom (@ 110/115V C) rms Max inrush (0-pk) Nominal bus output voltage Line loss ride through Continuous output current to bus ( DC ) Peak output current to bus ( DC ) (3) Bus overvoltage Bus undervoltage Internal shunt Continuous power Peak power V rms single-phase ( V rms nom) V DC 20 ms (1) ll 2094-xCxx IM modules are limited to 2 contactor cycles per minute (with up to 4 axes), or 1 contactor cycle per minute (with 5 8 axes). The cycle capability also depends on the converter power rating and the total system capacitance. To calculate cycle capability, refer to the User Manual, publication 2094-UM001. (2) For eight axis systems with 230V C control input voltage and 50 C (122 F) ambient temperature the maximum inrush duration is less than 1/2 line cycle. To calculate the maximum inrush duration for other configurations, refer to the User Manual, publication 2094-UM001. (3) Peak output current duration equals 250 ms (2) V DC 138V DC N/ N/ 50 W 8200 W 200 W 5700 W 200 W 5700 W Internal shunt resistor N/ 20 Ω Ω Ω Shunt on N/ 405V DC Shunt off N/ 375V DC Continuous power output to bus 3 kw 6 kw 11.3 kw 22.5 kw Peak power output 6 kw 12 kw 22.6 kw 45.0 kw Efficiency 95% Converter inductance N/ 150 μh 75 μh Converter capacitance 270 μf 540 μf 1320 μf 1980 μf Short circuit current rating 200,000 (rms) symmetrical 284 Rockwell utomation Publication GMC-SG001Q-EN-P - pril 2011

11 Chapter 5 IM Module (460V) Power Specifications (series and B) ttribute 2094-BC01-MP5-S 2094-BC01-M01-S 2094-BC02-M02-S 2094-BC04-M03-S 2094-BC07-M05-S C input voltage C input frequency Main C input current Nom (rms) Max inrush (0-pk) (1) V rms three-phase ( V nom) Hz (1) ll 2094-xCxx IM modules are limited to 2 contactor cycles per minute (with up to 4 axis modules), or 1 contactor cycle per minute (with 5 to 8 axis modules). The cycle capability also depends on the converter power rating and the total system capacitance. Refer to the User Manual, publication 2094-UM001 when making calculations. (2) For eight axis systems with 230V C control input voltage and 50 C (122 F) ambient temperature the maximum inrush duration is less than 1/2 line cycle. To calculate the maximum inrush duration for other configurations, refer to the User Manual, publication 2094-UM001. (3) Peak output current duration equals 250 ms. (4) Converter peak output duration equals 400 ms with a duty cycle of 16%. (5) Converter peak output duration equals 200 ms with a duty cycle of 3% DC input voltage (common bus follower) V DC DC input current (common-bus follower) Control power C input voltage V rms single-phase ( V rms nom) Control power C input current Nom (@ 220/230V C) rms Nom (@ 110/115V C) rms Max inrush (0-pk) Nominal bus output voltage Line loss ride through (2) 650V DC 20 ms Continuous output current to bus ( DC ) Peak output current to bus ( DC ) Series drives (3) Series B drives Bus overvoltage Bus undervoltage Internal shunt Continuous power Peak power (4) 825V DC 275V DC 50 W 5.6 kw (4) (4) (5) 200 W 22.5 kw Internal shunt resistor 115 Ω Ω Shunt on Shunt off 805V DC 755V DC Continuous power output to bus 6 kw 15 kw 27.6 kw 45 kw Peak power output Series drives (3) Series B drives 12 kw 30 kw 55.2 kw 90 kw 15 kw (4) 37.5 kw (4) 69 kw (4) 135 kw (5) Efficiency 97% Converter inductance 500 μh 125 μh 75 μh Converter capacitance 110 μf 220 μf 940 μf 1410 μf Short circuit current rating 200,000 (rms) symmetrical Rockwell utomation Publication GMC-SG001Q-EN-P - pril

12 Chapter 5 Control Power Current Requirements Modules on Power Rail 110/115V C Input 220/230V C Input Input V V Modules on Power Rail 110/115V C Input 220/230V C Input IM only IM, 4 M IM, 1 M IM, 5 M IM, 2 M IM, 6 M IM, 3 M IM, 7 M Input V V Integrated xis Module Dimensions 2094-C05-MP5-S, 2094-C05-M01-S, and 2094-C09-M02-S Dimensions (230V) 2094-BC01-MP5-S, 2094-BC01-M01-S, and 2094-BC02-M02-S Dimensions (460V) B 8.9 (0.35) Dimensions are in 125 (4.9) 2094-C05-M01-S (230V) shown. F E Bulletin 2090 (flying lead) Feedback Cable with 2090-K6CK-D15M Low Profile Connector Kit D Power Rail Important: dditional clearance below the connector is necessary to provide the recommended cable bend radius. Modules are shown mounted to the power rail and the dimensions reflect that in the depth of the module. IM Module Dimensions (series and B) IM Module 2094-C05-MP5-S 2094-C05-M01-S 2094-C09-M02-S 2094-BC01-MP5-S 2094-BC01-M01-S 2094-BC02-M02-S B D E F 198 (7.8) 176 (7.0) 51 (2.0) 206 (8.2) 237 (9.3) 272 (10.7) 249 (9.8) 0 (0) 256 (10.1) 287 (11.3) 286 Rockwell utomation Publication GMC-SG001Q-EN-P - pril 2011

13 Chapter C16-M03-S and 2094-C32-M05-S Dimensions (230V) 2094-BC04-M03-S and 2094-BC07-M05-S Dimensions (460V) B Dimensions are in C 8.9 (0.35) 2094-BC04-M03-S (460V) shown. F E Modules are shown mounted to the power rail and the dimensions reflect that in the depth of the module. IM Module Dimensions (series ) IM Module Power Rail Important: dditional clearance below the connector is necessary to provide the recommended cable bend radius. IM Module Dimensions (series B) B C 2094-C16-M03-S 125 (4.9) 198 (7.8) 176 (7.0) 2094-C32-M05-S 196 (7.7) Bulletin 2090 (flying lead) Feedback Cable with 2090-K6CK-D15M Low Profile Connector Kit E F 302 (11.9) 420 (16.5) 2094-BC04-M03-S 256 (10.1) 374 (14.7) 272 (10.7) 249 (9.8) 196 (7.7) 2094-BC07-M05-S 318 (12.5) 436 (17.2) IM Module 2094-BC04-M03-S 2094-BC07-M05-S B C E F 272 (10.7) 249 (9.8) 196 (7.7) 256 (10.1) 374 (14.7) Rockwell utomation Publication GMC-SG001Q-EN-P - pril

14 Chapter 5 Integrated xis Module Catalog Numbers Catalog numbers consist of various characters, each of which identifies a specific option for that component. Use the catalog numbering table chart below to understand the configuration of your module. For questions regarding product availability, contact your llen-bradley distributor x C xx - M xx - x Safety Feature S = Safe-off Inverter Current Rating (peak of sine) P5 = 5 (230V input voltage) 01 = 9 (230V input voltage) 02 = 15 (230V input voltage) 03 = 24 (230V input voltage) 05 = 49 (230V input voltage) Inverter (xis Module) Converter Power Rating 05 = 3 kw (230V input voltage) 09 = 6 kw (230V input voltage) 16 = 11 kw (230V input voltage) 32 = 23 kw (230V input voltage) Converter Input Voltage = 230V C, 50/60 Hz B = 460V C, 50/60 Hz Bulletin Number P5 = 4 (460V input voltage) 01 = 9 (460V input voltage) 02 = 15 (460V input voltage) 03 = V input voltage) 05 = 49 (460V input voltage) 01 = 6 kw (460V input voltage) 02 = 15 kw (460V input voltage) 04 = 28 kw (460V input voltage) 07 = 45 kw (460V input voltage) 288 Rockwell utomation Publication GMC-SG001Q-EN-P - pril 2011

15 Chapter 5 Kinetix 6000 xis Modules This section contains power specifications, mounting dimensions, and catalog numbers for the Bulletin 2094 (230V and 460V) axis modules (M). Choose your M module based on the inverter power requirements of your application. xis Module (inverter) Power Specifications These specifications apply to the axis module specified in the column heading by catalog number and the same axis module (inverter section) that resides within an IM module. M Module (inverter) 230V Power Specifications ttribute Bandwidth (1) Velocity loop Current loop 2094-MP5-S (2094-C05-MP5-S) 500 Hz 1300 Hz 2094-M01-S (2094-C05-M01-S) (1) Bandwidth values vary based on tuning parameters and mechanical components. (2) Peak current duration equals 2.5 seconds M02-S (2094-C09-M02-S) 2094-M03-S (2094-C16-M03-S) PWM frequency 8 khz 4 khz Input voltage (nom) 325V DC Continuous current (rms) Continuous current (0-pk) Peak current (rms) (2) Peak current (0-pk) (2) Continuous power out (nom) 1.2 kw 1.9 kw 3.4 kw 5.5 kw 11.0 kw Internal shunt Continuous power Peak power N/ N/ 50 W 1400 W Internal shunt resistor N/ 115 Ω Shunt on N/ 405V DC Shunt off N/ 375V DC Efficiency 98% Capacitance 390 μf 660 μf 780 μf 1320 μf 2640 μf Capacitive energy absorption 15 J 25 J 29 J 50 J 99 J Short circuit current rating 200,000 (rms) symmetrical 2094-M05-S (2094-C32-M05-S) Rockwell utomation Publication GMC-SG001Q-EN-P - pril

16 Chapter 5 IMPORTNT The peak current ratings of the Kinetix 6000 M modules (series and B) are configured at the factory as 150% of continuous current. You can program 2094-BMP5-S, 2094-BM01-S, 2094-BM02-S, and 2094-BM03-S series-b drives and their equivalent IM (inverter) modules, up to 250% of continuous inverter current. You can program the 2094-BM05-S (M module) and the 2094-BC07-M05-S (inverter) module up to 200% of continuous inverter current. M Module (inverter) 460V Power Specifications (series and B) ttribute Bandwidth (1) Velocity loop Current loop 2094-BMP5-S (2094-BC01-MP5-S) 500 Hz 1300 Hz 2094-BM01-S (2094-BC01-M01-S) PWM frequency 8 khz 4 khz 2094-BM02-S (2094-BC02-M02-S) 2094-BM03-S (2094-BC04-M03-S) Nominal input voltage 650V DC Continuous current (rms) (2) Continuous current (sine) 0-pk (2) Peak current (rms) (2) Series drives Series B drives (3) Peak current (0-pk) (2) Series drives Series B drives (3) BM05-S (2094-BC07-M05-S) (1) Bandwidth values vary based on tuning parameters and mechanical components. (2) Continuous and peak current ratings are for high-speed operation. For constant velocity operation at an electrical output frequency below 5 Hz (75 rpm for 8-pole motors), the output current rating is reduced. See Motion nalyzer software to correctly size your drive. (3) pplies to series-b drives when configured for Peak-enhanced mode. For more information on drive performance in the Peak-enhanced mode, refer to Peak Enhancement Specifications on page Continuous power out (nom) 1.8 kw 3.9 kw 6.6 kw 13.5 kw 22.0 kw Internal shunt Continuous power Peak power 50 W 5.6 kw 200 W 22.5 kw Internal shunt resistor 115 Ω Ω Shunt on Shunt off 805V DC 755V DC Efficiency 98% Capacitance 75 μf 150 μf 270 μf 840 μf 1175 μf Capacitive energy absorption 10 J 19 J 35 J 108 J 152 J Short circuit current rating 200,000 (rms) symmetrical 290 Rockwell utomation Publication GMC-SG001Q-EN-P - pril 2011

17 Chapter 5 xis Module Dimensions 2094-MP5-S, 2094-M01-S, and 2094-M02-S Dimensions (230V) 2094-BMP5-S, 2094-BM01-S, and 2094-BM02-S Dimensions (460V) B 8.9 (0.35) Dimensions are in 70 (2.76) 2094-M01 (230V) shown. F E Bulletin 2090 (flying lead) Feedback Cable with 2090-K6CK-D15M Low Profile Connector Kit Power Rail Modules are shown mounted to the power rail and the dimensions reflect that in the depth of the module. M Module Dimensions (series and B) D Important: dditional clearance below the connector is necessary to provide the recommended cable bend radius. M Module 2094-MP5-S 2094-M01-S 2094-M02-S 2094-BMP5-S 2094-BM01-S 2094-BM02-S B D E F 198 (7.8) 176 (7.0) 51 (2.0) 206 (8.2) 237 (9.3) 272 (10.7) 249 (9.8) 0 (0) 256 (10.1) 287 (11.3) Rockwell utomation Publication GMC-SG001Q-EN-P - pril

18 Chapter M03-S and 2094-M05-S Dimensions (230V) 2094-BM03-S and 2094-BM05-S Dimensions (460V) B Dimensions are in C 8.9 (0.35) 2094-BM03-S (460V) shown. F E Bulletin 2090 (flying lead) Feedback Cable with 2090-K6CK-D15M Low Profile Connector Kit Modules are shown mounted to the power rail and the dimensions reflect that in the depth of the module. M Module Dimensions (series ) M Module Power Rail M Module Dimensions (series B) B C Important: dditional clearance below the connector is necessary to provide the recommended cable bend radius. E F 2094-M03-S 2094-M05-S 198 (7.8) 176 (7.0) 70 (2.8) 302 (11.9) 420 (16.5) 2094-BM03-S 256 (10.1) 374 (14.7) 272 (10.7) 249 (9.8) 141 (5.5) 2094-BM05-S 318 (12.5) 436 (17.2) M Module 2094-BM03-S 2094-BM05-S B C E F 272 (10.7) 249 (9.8) 141 (5.5) 256 (10.1) 374 (14.7) 292 Rockwell utomation Publication GMC-SG001Q-EN-P - pril 2011

19 Chapter 5 xis Module Catalog Numbers Catalog numbers consist of various characters, each of which identifies a specific option for that component. Use the catalog numbering table chart below to understand the configuration of your module. For questions regarding product availability, contact your llen-bradley distributor x M xx - x Safety Feature S = Safe-off Inverter Current Rating (peak of sine) P5 = 5 (230V input voltage) 01 = 9 (230V input voltage) 02 = 15 (230V input voltage) 03 = 24 (230V input voltage) 05 = 49 (230V input voltage) Module Input Voltage M = 230V C, 50/60 Hz BM = 460V C, 50/60 Hz Bulletin Number P5 = 4 (460V input voltage) 01 = 9 (460V input voltage) 02 = 15 (460V input voltage) 03 = V input voltage) 05 = 49 (460V input voltage) Kinetix 6000 General System Specifications This section contains Kinetix 6000 drive environmental, weight, power dissipation, circuit breaker/fuse, transformer, and contactor specifications. Environmental Specifications ttribute Operational Range Storage Range (nonoperating) Temperature, ambient 0 50 C ( F) C ( F) Relative humidity 5 95% noncondensing 5 95% noncondensing ltitude Vibration Shock 1000 m (3281 ft) 3000 m (9843 ft) with derating 3000 m (9843 ft) during transport mm (0.014 in.) double amplitude, continuous displacement; g peak constant acceleration (10 sweeps in each of 3 mutually perpendicular directions). 15 g, 11 ms half-sine pulse (3 pulses in each direction of 3 mutually perpendicular directions) Rockwell utomation Publication GMC-SG001Q-EN-P - pril

20 Chapter 5 Weight Specifications Kinetix 6000 Module IM (230V) M (230V) Power rails (Slim) Weight, approx. kg (lb) 2094-C05-MP5-S 2.23 (4.9) Kinetix 6000 Module Weight, approx. kg (lb) 2094-BC01-MP5-S 4.98 (11.0) 2094-C05-M01-S 2.27 (5.0) 2094-BC01-M01-S 5.03 (11.1) 2094-C09-M02-S 2.31 (5.1) IM (460V) 2094-BC02-M02-S 5.08 (11.2) 2094-C16-M03-S 4.71 (10.4) 2094-BC04-M03-S 9.60 (21.1) 2094-C32-M05-S 7.43 (16.4) 2094-BC07-M05-S 10.1 (22.3) 2094-MP5-S 1.46 (3.2) 2094-BMP5-S 2.44 (5.4) 2094-M01-S 1.50 (3.3) 2094-BM01-S 2.49 (5.5) 2094-M02-S 1.54 (3.4) M (460V) 2094-BM02-S 2.54 (5.6) 2094-M03-S 3.13 (6.9) 2094-BM03-S 4.58 (10.1) 2094-M05-S 3.18 (7.0) 2094-BM05-S 4.98 (11.0) 2094-PRS (2.3) 2094-PRS (3.5) Shunt module 2094-BSP (6.8) 2094-PRS (4.7) Slot-filler module 2094-PRF 0.45 (1.0) 2094-PRS (5.9) 2094-PRS (6.8) 2094-PRS (7.8) 2094-PRS (8.8) 2094-PRS (9.7) Maximum Feedback Cable Lengths lthough motor feedback cables are available in standard lengths up to 90 m (295.3 ft), the drive/motor/feedback combination may limit the maximum feedback cable length. These tables assume the use of recommended cables as shown in the 2090-Series Motor/ctuator Cable Selection table on page 402. Cable Lengths for Compatible Rotary Motors Motor MPL-15xxx MPL-2xxx-E/V bsolute High-resolution (5V) Encoder 30 (98.4) MPL-3xxx MPL-5xxx-S/M (1) 30 (98.4) MPL-B15xxx MPL-B2xxx-E/V MPL-B3xxx MPL-B5xxx-S/M MPL-/B15xxx MPL-/B45xxx-H bsolute High-resolution (9V) Encoder 90 (295.3) 90 (295.3) Incremental/TTL (5V) Encoder 30 (98.4) Resolver MPL-Bxxxx-R 90 (295.3) MPM-xxxxx-S/M 30 (98.4) MPM-Bxxxxx-S/M 90 (295.3) 294 Rockwell utomation Publication GMC-SG001Q-EN-P - pril 2011

21 Chapter 5 Cable Lengths for Compatible Rotary Motors (continued) Motor MPM-/Bxxxxx-2 90 (295.3) MPF-xxxx-S/M (1) 30 (98.4) MPF-Bxxxx-S/M 90 (295.3) MPS-xxxx-S/M 30 (98.4) MPS-Bxxxx-S/M 90 (295.3) RDB-B215xx-7/3 30 (98.4) RDB-B290xx-7/3 or RDB-B410xx-7/3 90 (295.3) TLY-xxxx-H 30 (98.4) (1) MPL-5xxx and MPF-5xxx motor encoders are rated for 9V, the remaining Bulletin MPL and MPF (230V) motor encoders are rated for 5V. Cable Lengths for Compatible Linear ctuators ctuator MPM-xxxxx or MPS-xxxxx-V (ballscrew) MPM-xxxxx or MPS-xxxxx- (direct drive) MPM-Bxxxxx or MPS-Bxxxxx-V (ballscrew) MPM-Bxxxxx or MPS-Bxxxxx- (direct drive) bsolute High-resolution (5V) Encoder 30 (98.4) MPR-xxxxx-V/M 30 (98.4) Cable Lengths for Compatible Linear Motors bsolute High-resolution (9V) Encoder 90 (295.3) MPR-Bxxxxx-V/M 90 (295.3) Incremental/TTL (5V) Encoder 30 (98.4) 30 (98.4) TLR-xxxxx-B 30 (98.4) MPI-xxxxxM3 30 (98.4) MPI-BxxxxxM3 90 (295.3) Motor bsolute High-resolution (5V) Encoder bsolute High-resolution (9V) Encoder bsolute High-resolution (5V) Encoder LDC-Series or LDL-Series 30 (98.4) 30 (98.4) Incremental/TTL (5V) Encoder Resolver Incremental/TTL (5V) Encoder bsolute High-resolution (5V) 17-bit Encoder Maximum Power Cable Length lthough motor power cables are available in standard lengths up to 90 m (295.3 ft) and the Kinetix 6000 power rail is available in sizes up to eight axes, to meet CE requirements and improve system performance the combined motor power length for all axes on the same DC bus must not exceed 160 m (525 ft) for 230V systems and 240 m (787 ft) for 460V systems. Rockwell utomation Publication GMC-SG001Q-EN-P - pril

22 Chapter 5 Circuit Breaker/Fuse Specifications While circuit breakers offer some convenience, there are limitations for their use. Circuit breakers do not handle high current inrush as well as fuses. Make sure the selected components are properly coordinated and meet acceptable codes including any requirements for branch circuit protection. Evaluation of the short-circuit available current is critical and must be kept below the short-circuit current rating of the circuit breaker. Use class CC, J, L, or R fuses, with current rating as indicated in the table below. The following fuse examples and llen-bradley circuit breakers are recommended for use with 2094-xCxx-Mxx-S IM modules when the Line Interface Module (LIM) is not used. IMPORTNT LIM Modules (catalog numbers 2094-LxxS, 2094-BLxxS, and 2094-XL75S-Cx) provide branch circuit protection to the IM module. Follow all applicable NEC and local codes. IM Module Bussmann Fuse V C Input Power Control Input Power DC Common Bus Fuse llen-bradley Circuit Breaker Disconnect Magnetic Contactor Bussmann Fuse llen-bradley Circuit Breaker Bussmann Fuse Ferraz Shawmut Fuse 2094-C05-MP5-S 2094-C05-M01-S KTK-R-20 (20 ) 1492-SP3D M-F8E-C SP2D060 N/ 50P C09-M02-S KTK-R-30 (30 ) 1492-SP3D M-F8E-C20 FWH-35B 50P C16-M03-S LPJ-45SP (45 ) N/ 140U-H6C3-C50 FWH-60B 50P SP2D C32-M05-S LPJ-80SP (80 ) N/ 140U-H6C3-C90 FWH-125B 50P125-4 FNQ-R-10 (10 ) 2094-BC01-MP5-S KTK-R-20 (20 ) 1492-SP3D M-F8E-C32 N/ 100P BC01-M01-S 2094-BC02-M02-S KTK-R-30 (30 ) 1492-SP3D M-F8E-C SP2D060 FWJ P BC04-M03-S LPJ-45SP (45 ) 140U-H6C3-C50 FWJ P70-1 N/ 2094-BC07-M05-S LPJ-80SP (80 ) 140U-H6C3-C90 FWJ P Rockwell utomation Publication GMC-SG001Q-EN-P - pril 2011

23 Chapter 5 Contactor Ratings This table lists the recommended contactor ratings for integrated axis modules installed without a line interface module. IM Module (230V) Contactor IM Module (460V) Contactor 2094-C05-MP5-S 2094-C05-M01-S 100-C23x10 (C coil) 100-C23Zx10 (DC coil) 2094-BC01-MP5-S 2094-BC01-M01-S 100-C23x10 (C coil) 100-C23Zx10 (DC coil) 2094-C09-M02-S 100-C37x10 (C coil) 100-C37Zx10 (DC coil) 2094-BC02-M02-S 100-C37x10 (C coil) 100-C37Zx10 (DC coil) 2094-C16-M03-S 100-C72x10 (C coil) 100-C72Zx10 (DC coil) 2094-BC04-M03-S 100-C60x10 (C coil) 100-C60Zx10 (DC coil) 2094-C32-M05-S 100-C85x10 (C coil) 100-C85Zx10 (DC coil) 2094-BC07-M05-S 100-C72x10 (C coil) 100-C72Zx10 (DC coil) Input Transformer for Control Power ttribute Input volt-amperes Input voltage Output voltage Value 750V 460V C V C Rockwell utomation Publication GMC-SG001Q-EN-P - pril

24 Chapter 5 Power Dissipation Specifications Use this table to size an enclosure and calculate required ventilation for your Kinetix 6000 drive system. Usage as % of Rated Power Output Kinetix 6000 Modules (watts) 20% 40% 60% 80% 100% IM (converter) module (1) 2094-C05-MP5-S C05-M01-S C09-M02-S C16-M03-S C32-M05-S BC01-MP5-S BC01-M01-S BC02-M02-S BC04-M03-S BC07-M05-S IM (inverter) module or M module (1) 2094-C05-MP5-S or 2094-MP5-S C05-M01-S or 2094-M01-S C09-M02-S or 2094-M02-S C16-M03-S or 2094-M03-S C32-M05-S or 2094-M05-S BC01-MP5-S or 2094-BMP5-S BC01-M01-S or 2094-BM01-S BC02-M02-S or 2094-BM02-S BC04-M03-S or 2094-BM03-S BC07-M05-S or 2094-BM05-S Shunt module 2094-BSP (1) Internal shunt power is not included in the calculations and must be added based on utilization. Power dissipation specifications are based on these calculations. This is an example: 2094-BC02-M02-S with 4.52 DC (=20%) converter DC current and 10.3 rms (=100%) inverter output current. Converter loss (36 W) + Inverter loss (142 W) = 178 W total power dissipation. 298 Rockwell utomation Publication GMC-SG001Q-EN-P - pril 2011

25 Chapter 5 Kinetix 6000 Connector, Indicator, and Switch Locations This section contains connector, indicator, and switch locations for the Kinetix 6000 IM and M modules Cxx-Mxx-S and 2094-BCxx-Mxx-S IM Connectors Integrated xis Module (2094-C05-M01-S top view is shown) CTRL 2 CTRL 1 DC- DC+ L3 L2 L1 CONT EN- CONT EN+ RX DPI W V U MBRK - MBRK + COM PWR DBRK - DBRK TX BUD RTE Integrated xis Module (2094-C05-M01-S front view is shown) Item Description Item Description 1 Safe-off (SO) connector 11 SERCOS receive (Rx) connector 2 Contactor enable (CED) connector 12 Mounting screw 3 DC bus/c input power (IPD) connector 13 I/O (IOD) connector 4 Control power (CPD) connector 14 SERCOS node address switch 5 Motor cable shield clamp 15 Seven-segment fault status indicator 6 Motor power (MP) connector 16 Drive status indicator 7 Motor/resistive brake (BC) connector 17 COMM status indicator 8 SERCOS communication rate and optical power switches 18 Bus status indicator 9 SERCOS transmit (Tx) connector 19 Motor feedback (MF) connector 10 DPI connector 20 uxiliary feedback (F) connector For connector kit options, refer to Breakout Components and Connector Kits beginning on page 442. Rockwell utomation Publication GMC-SG001Q-EN-P - pril

26 Chapter Mxx-S and 2094-BMxx-S M Connectors xis Module (2094-M01-S top view is shown) xis Module (2094-M01-S front view is shown) W V U MBRK - MBRK + COM PWR DBRK - DBRK RX TX BUD RTE Item Description Item Description Item Description 1 Safe-off (SO) connector 6 SERCOS transmit (Tx) connector 11 Drive status indicator 2 Motor cable shield clamp 7 SERCOS receive (Rx) connector 12 COMM status indicator 3 Motor power (MP) connector 8 Mounting screw 13 Bus status indicator 4 Motor/resistive brake (BC) connector 9 I/O (IOD) connector 14 Motor feedback (MF) connector 5 SERCOS communication rate and optical power switches 10 Seven-segment fault status indicator 15 uxiliary feedback (F) connector For connector kit options, refer to Breakout Components and Connector Kits beginning on page Rockwell utomation Publication GMC-SG001Q-EN-P - pril 2011