Kinetix 6000 Integrated Axis Modules

Transcription

1 Chapter 6 Kinetix 6000 Multi-axis Servo Drives Kinetix 6000 Integrated Axis Modules This section contains power specifications, mounting dimensions, and catalog numbers for the Bulletin 2094 (230V and 460V) integrated axis modules (IAM). Choose your IAM module based on the converter and inverter power requirements of your application. Integrated Axis Module (converter) Power Specifications IAM Module (230V) Power Specifications Attribute 2094-AC05-MP5-S 2094-AC05-M0-S 2094-AC09-M02-S 2094-AC6-M03-S 2094-AC32-M05-S AC input voltage AC input frequency V rms three-phase (230V nom) Hz Main AC input current () Nom (rms) Max inrush (0-pk) DC input voltage (common-bus follower) 0 A 9 A V DC DC input current (common-bus follower) 0 A 9 A 36 A 7 A Control power AC input voltage Control power AC input current Nom (@ 220/230V AC) rms Nom (@ 0/5V AC) rms Max inrush (0-pk) Nominal bus output voltage Line loss ride through Continuous output current to bus (A dc ) Peak output current to bus (A dc ) (3) Bus overvoltage Bus undervoltage Internal shunt Continuous power Peak power V rms single-phase (230V nom) 3 A 6 A 20 A 325V DC 20 ms () All 2094-xCxx IAM modules are limited to 2 contactor cycles per minute (with up to 4 axis modules), or contactor cycle per minute (with 5 to 8 axis modules). (2) Maximum inrush duration is less than /2 line cycle. (3) Peak output current duration equals 250 ms. 9 A 37 A 36 A 73 A 3 A 6 A 83 A (2) 0 A 9 A 36 A 7 A 7 A 38 A 20 A 38 A 72 A 42 A 45V DC 38V DC 50 W 8200 W 200 W 5700 W 200 W 5700 W Internal shunt resistor 20 Ω Ω Ω Shunt on 405V DC Shunt off 375V DC Continuous power output to bus 3 kw 6 kw.3 kw 22.5 kw Peak power output 6 kw 2 kw 22.6 kw 45.0 kw Efficiency 95% Converter inductance 50 µh 75 µh Converter capacitance 270 µf 540 µf 320 µf 980 µf Short circuit current rating 200,000 A (rms) symmetrical 274 Publication GMC-SG00O-EN-P March 200

2 Kinetix 6000 Multi-axis Servo Drives Chapter AC6-M03-S and 2094-AC32-M05-S Dimensions (230V) 2094-BC04-M03-S and 2094-BC07-M05-S Dimensions (460V) A Dimensions are in mm (in.) B C 8.9 (0.35) 2094-BC04-M03-S (460V) shown F E Power Rail Important: Additional clearance below the connector is necessary to provide the recommended cable bend radius. Bulletin 2090 (flying lead) Feedback Cable with 2090-K6CK-D5M Low Profile Connector Kit Modules are shown mounted to the power rail and the dimensions reflect that in the depth of the module. IAM Module A mm (in.) B mm (in.) C mm (in.) 2094-AC6-M03-S 25 (4.9) 98 (7.8) 76 (7.0) 2094-AC32-M05-S 96 (7.7) E mm (in.) F mm (in.) 302 (.9) 420 (6.5) 2094-BC04-M03-S 256 (0.) 374 (4.7) 272 (0.7) 249 (9.8) 96 (7.7) 2094-BC07-M05-S 38 (2.5) 436 (7.2) Publication GMC-SG00O-EN-P March

3 Kinetix 6000 Multi-axis Servo Drives Chapter 6 Kinetix 6000 Axis Modules This section contains power specifications, mounting dimensions, and catalog numbers for the Bulletin 2094 (230V and 460V) axis modules (AM). Choose your AM module based on the inverter power requirements of your application. Axis 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 IAM module. AM Module (inverter) 230V Power Specifications Attribute Bandwidth () Velocity loop Current loop 2094-AMP5-S (2094-AC05-MP5-S) 500 Hz 300 Hz 2094-AM0-S (2094-AC05-M0-S) PWM frequency 8 khz 4 khz Input voltage (nom) 325V DC () Bandwidth values vary based on tuning parameters and mechanical components AM02-S (2094-AC09-M02-S) 2094-AM03-S (2094-AC6-M03-S) Continuous current (rms) 3.7 A 6.0 A 0.6 A 7.3 A 34.6 A Continuous current (0-pk) 5.2 A 8.5 A 5.0 A 24.5 A 48.9 A Peak current (rms) (2) (2) Peak current duration equals 2.5 seconds. 7.4 A 2.0 A 2.2 A 34.6 A 5.9 A Peak current (0-pk) (2) 0.5 A 7.0 A 30.0 A 48.9 A 73.4 A Continuous power out (nom).2 kw.9 kw 3.4 kw 5.5 kw.0 kw Internal shunt Continuous power Peak power 50 W 400 W Internal shunt resistor 5 Ω Shunt on 405V DC Shunt off 375V DC Efficiency 98% Capacitance 390 µf 660 µf 780 µf 320 µf 2640 µf Capacitive energy absorption 5 J 25 J 29 J 50 J 99 J Short circuit current rating 200,000 A (rms) symmetrical 2094-AM05-S (2094-AC32-M05-S) Publication GMC-SG00O-EN-P March

4 Chapter 6 Kinetix 6000 Multi-axis Servo Drives Weight Specifications Kinetix 6000 Module IAM (230V) AM (230V) Power rails (Slim) Weight, approx. kg (lb) 2094-AC05-MP5-S 2.23 (4.9) Kinetix 6000 Module Weight, approx. kg (lb) 2094-BC0-MP5-S 4.98 (.0) 2094-AC05-M0-S 2.27 (5.0) 2094-BC0-M0-S 5.03 (.) 2094-AC09-M02-S 2.3 (5.) IAM (460V) 2094-BC02-M02-S 5.08 (.2) 2094-AC6-M03-S 4.7 (0.4) 2094-BC04-M03-S 9.60 (2.) 2094-AC32-M05-S 7.43 (6.4) 2094-BC07-M05-S 0. (22.3) 2094-AMP5-S.46 (3.2) 2094-BMP5-S 2.44 (5.4) 2094-AM0-S.50 (3.3) 2094-BM0-S 2.49 (5.5) 2094-AM02-S.54 (3.4) AM (460V) 2094-BM02-S 2.54 (5.6) 2094-AM03-S 3.3 (6.9) 2094-BM03-S 4.58 (0.) 2094-AM05-S 3.8 (7.0) 2094-BM05-S 4.98 (.0) 2094-PRS.05 (2.3) 2094-PRS2.59 (3.5) Shunt module 2094-BSP2 3.0 (6.8) 2094-PRS3 2.4 (4.7) Slot-filler module 2094-PRF 0.45 (.0) 2094-PRS (5.9) 2094-PRS5 3. (6.8) 2094-PRS (7.8) 2094-PRS (8.8) 2094-PRS (9.7) Maximum Feedback Cable Lengths Although 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 Motor/Actuator Cable Selection table on page 380. Cable Lengths for Compatible Rotary Motors Motor MPL-A5xxx MPL-A2xxx-E/V Absolute High-resolution (5V) Encoder m (ft) 30 (98.4) MPL-A3xxx MPL-A5xxx-S/M () 30 (98.4) MPL-B5xxx MPL-B2xxx-E/V MPL-B3xxx MPL-B5xxx-S/M MPL-A/B5xxx MPL-A/B45xxx-H Absolute High-resolution (9V) Encoder m (ft) 90 (295.3) 90 (295.3) Incremental/TTL (5V) Encoder m (ft) 30 (98.4) Resolver m (ft) MPL-Bxxxx-R 90 (295.3) MPM-Axxxxx-S/M 30 (98.4) 284 Publication GMC-SG00O-EN-P March 200

5 Chapter 6 Kinetix 6000 Multi-axis Servo Drives 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 Allen-Bradley circuit breakers are recommended for use with 2094-xCxx-Mxx-S IAM modules when the Line Interface Module (LIM) is not used. IMPORTANT LIM Modules (catalog numbers 2094-ALxxS, 2094-BLxxS, and 2094-XL75S-Cx) provide branch circuit protection to the IAM module. Follow all applicable NEC and local codes. IAM Module 2094-AC05-MP5-S 2094-AC05-M0-S Bussmann Fuse V AC Input Power Control Input Power DC Common Bus Fuse Allen-Bradley Circuit Breaker Disconnect Magnetic Contactor KTK-R-20 (20 A) 492-SP3D300 40M-F8E-C6 Bussmann Fuse Allen-Bradley Circuit Breaker 492-SP2D060 Bussmann Fuse Ferraz Shawmut Fuse 2094-AC6-M03-S LPJ-45SP (45 A) 40U-H6C3-C50 FWH-60B A50P SP2D AC32-M05-S LPJ-80SP (80 A) 40U-H6C3-C90 FWH-25B A50P25-4 FNQ-R-0 (0 A) 2094-BC0-MP5-S KTK-R-20 (20 A) 492-SP3D300 40M-F8E-C32 A00P BC0-M0-S A50P AC09-M02-S KTK-R-30 (30 A) 492-SP3D400 40M-F8E-C20 FWH-35B A50P BC02-M02-S KTK-R-30 (30 A) 492-SP3D400 40M-F8E-C SP2D060 FWJ-40A A00P BC04-M03-S LPJ-45SP (45 A) 40U-H6C3-C50 FWJ-70A A00P BC07-M05-S LPJ-80SP (80 A) 40U-H6C3-C90 FWJ-25A A00P Publication GMC-SG00O-EN-P March 200

6 Kinetix 6000 Multi-axis Servo Drives Chapter 6 Contactor Ratings The table below lists the recommended contactor ratings for integrated axis modules installed without a line interface module. IAM Module (230V) Contactor IAM Module (460V) Contactor 2094-AC05-MP5-S 2094-AC05-M0-S 00-C23x0 (AC coil) 00-C23Zx0 (DC coil) 2094-BC0-MP5-S 2094-BC0-M0-S 00-C23x0 (AC coil) 00-C23Zx0 (DC coil) 2094-AC09-M02-S 00-C37x0 (AC coil) 00-C37Zx0 (DC coil) 2094-BC02-M02-S 00-C37x0 (AC coil) 00-C37Zx0 (DC coil) 2094-AC6-M03-S 00-C72x0 (AC coil) 00-C72Zx0 (DC coil) 2094-BC04-M03-S 00-C60x0 (AC coil) 00-C60Zx0 (DC coil) 2094-AC32-M05-S 00-C85x0 (AC coil) 00-C85Zx0 (DC coil) 2094-BC07-M05-S 00-C72x0 (AC coil) 00-C72Zx0 (DC coil) Input Transformer for Control Power Attribute Input volt-amperes Input voltage Output voltage Value 750VA 460V AC V AC Publication GMC-SG00O-EN-P March

7 Chapter 6 Kinetix 6000 Multi-axis Servo Drives Power Dissipation Specifications Use this table to size an enclosure and calculate required ventilation for your Kinetix 6000 drive system.. Kinetix 6000 Modules IAM (converter) module () 2094-AC05-MP5-S 2094-AC05-M0-S () Internal shunt power is not included in the calculations and must be added based on utilization. Usage as % of Rated Power Output (watts) 20% 40% 60% 80% 00% AC09-M02-S AC6-M03-S AC32-M05-S BC0-MP5-S 2094-BC0-M0-S BC02-M02-S BC04-M03-S BC07-M05-S IAM (inverter) module or AM module () 2094-AC05-MP5-S or 2094-AMP5-S AC05-M0-S or 2094-AM0-S AC09-M02-S or 2094-AM02-S AC6-M03-S or 2094-AM03-S AC32-M05-S or 2094-AM05-S BC0-MP5-S or 2094-BMP5-S BC0-M0-S or 2094-BM0-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 Power dissipation specifications are based on these calculations. For example: 2094-BC02-M02-S with 4.52 A dc (=20%) converter DC current and 0.3 A rms (=00%) inverter output current. Converter loss (36 W) + Inverter loss (42 W) = 78 W total power dissipation. 288 Publication GMC-SG00O-EN-P March 200

8 Chapter 2 Motion Control Accessories Bulletin 2094 Power Rail The Bulletin 2094 power rail is compatible with Kinetix 6000, Kinetix 6200, and Kinetix 6500 drive families. This section contains selection information, mounting dimensions, and catalog numbers for the 2094-PRSx (Slim) power rails. Bulletin 2094 power rails are compatible with all 230V and 460V drive modules. IAM, AM, and Shunt Module Slot Requirements IAM Module 2094-AC05-MP5-S Converter Slot Used Inverter Slots Used AM Module Converter Slot Used 2094-AC09-M02-S 230V 2094-AM02-S 230V 2094-AMP5-S 2094-AC05-M0-S 2094-AM0-S 2094-AC6-M03-S 2094-AM03-S 2094-AC32-M05-S AM05-S 2094-BC0-MP5-S 2094-BC0-MP5-M 2094-BC0-M0-S 2094-BC0-M0-M 2094-BC02-M02-S 2094-BC02-M02-M 460V 2094-BMP5-S 2094-BMP5-M 2094-BM0-S 2094-BM0-M 2094-BM02-S 2094-BM02-M 2094-BC04-M03-S BM03-S BC07-M05-S BM05-S 2 460V 0 Inverter Slots Used Shunt Module 2094-BSP2 230/ 460V Converter Slot Used 0 Inverter Slots Used Integrated axis modules (2094-AC32-M05-S, 2094-BC04-M03-S, and 2094-BC07-M05-S) and axis modules (2094-BM03-S and 2094-BM05-S) are double-wide modules and require two slots on the power rail. 432 Publication GMC-SG00O-EN-P March 200

9 Chapter 2 Motion Control Accessories Bulletin 2094 Shunt Module (230V) System Specifications In this table, the 230V system specifications are given for the IAM module internal shunt resistors, the 2094-BSP2 shunt module, and the Bulletin 394 external shunt modules. IAM Module AC05-MP5-S Number of Axis Modules Qty Shunt Module Resistance Ω Peak Current A Specifications () Refer to External Shunt Modules beginning on page 47 for shunt module specifications. Peak Power kw Continuous Power W External Passive Shunt Module () AC05-M0-S 0 AC09-M02-S 0 to 7 (2) (2) 50 (3) AC6-M03-S AC32-M05-S (2) Module not part of system configuration. (3) Shunt power equals 50 or the sum of the AM module internal shunt ratings. (4) Shunt power equals 200 plus the sum of the AM module internal shunt ratings. System Continuous Shunt Power W plus (4) ACxx-Mxx-S 0 to BSP (2) 200 plus (5) ACxx-Mxx-S SR9A 300 (6) ACxx-Mxx-S SR9AF 900 (6) 0 to BSP ACxx-Mxx-S SR36A 800 (6) ACxx-Mxx-S SR36AF 3600 (6) (5) Shunt power equals 200 plus the sum of the IAM module (2094-AC6-M03-S and 2094-AC32-M05-S only) and AM module internal shunt ratings. (6) Use of external shunt module disables internal IAM/AM shunt modules. IMPORTANT Use of the 2094-BSP2 shunt module in combination with the 2094-AC09-M02-S IAM module disables the shunt resistor internal to that IAM module. This situation is unique to the 2094-AC09-M02-S IAM module. Shunt resistors internal to adjacent AM modules are not disabled. Refer to the 230V Shunt Power Example (catalog number 2094-AC09-M02-S) shown below. In this example, the continuous shunt power is 300 W. The 50 W resistor in the IAM module is disabled when used in combination with the 2094-BSP2 shunt module. This example is unique to the 2094-AC09-M02-S IAM module. 230V Shunt Power Example (catalog number 2094-AC09-M02-S) Kinetix 6000 (230V) Shunt Power Example 300 W Continuous Shunt Power Shunt (2094-BSP2) 200 W shunt module AM (2094-AMP5-S) no internal shunt AM (2094-AM03-S) 50 W internal shunt AM (2094-AM03-S) 50 W internal shunt IAM (2094-AC09-M02-S) 50 W internal shunt 436 Publication GMC-SG00O-EN-P March 200

10 Chapter 2 Motion Control Accessories Connector Sets Kinetix 300 Drive Family Module Description Kinetix 300 Drive 2097-V3xxxx Includes AC input (IPD), back-up power (CPD), shunt and DC bus (BC), motor power (MP), and safe-off (STO) replacement connectors for all Kinetix 300 drives CONN Kinetix 6000, Kinetix 6200, Kinetix 6500 Drive Families Module Description IAM Module (converter connectors) IAM/AM Module (inverter connectors) Shunt Module 2094-AC05-Mxx-S and 2094-AC09-M02-S 2094-AC6-M03-S and 2094-AC32-M05-S 2094-BC0-Mxx-S and 2094-BC02-M02-S 2094-BC0-Mxx-M and 2094-BC02-M02-M 2094-BC04-M03-S and 2094-BC07-M05-S 2094-AC05-Mxx-S, 2094-AC09-M02-S, 2094-AMP5-S, 2094-AM0-S, 2094-AM02-S 2094-AC6-M03-S and 2094-AC32-M05-S 2094-AM03-S, 2094-AM05-S 2094-BC04-M03-S, 2094-BM03-S 2094-BC0-Mxx-S and 2094-BC02-M02-S 2094-BC0-Mxx-S and 2094-BC02-M02-M 2094-BMP5-M, 2094-BM0-M, 2094-BM02-S 2094-BMP5-M, 2094-BM0-M, 2094-BM02-M 2094-BC07-M05-S, 2094-BM05-S 2094-BSP2 Includes control power (CPD), DC bus/ac input (IPD), and contactor enable (CED) replacement connectors for the IAM (converter). Includes motor power (MP), motor/resistive brake (BC), and safe-off (SO), replacement connectors for the IAM (inverter) and AM. Also includes bracket kit for SERCOS fiber-optic cable connectors. Includes external shunt resistor (RC) and external thermal switch (TS) replacement connectors for the SM ANCON XNCON BNCON XNCON XNINV ANINV XNINV BNINV XNSHT- Kinetix 7000 Drive Family Module Description Kinetix 7000 Drive 2099-BMxx-S Includes safe-off (SO), general purpose I/O (GPIO), general purpose relay (GPR), and control power (CP) replacement connectors for Kinetix 7000 drives K7KCK- Line Interface Module (LIM) and Resistive Brake Module (RBM) Module Description Line Interface Module (LIM) Line Interface Module (LIM) Resistive Brake Module (RBM) 2094-AL09 and 2094-BL ALxxS, 2094-BLxxS, and 2094-XL75S-Cx 2090-XB33-xx 2090-XB20-xx Includes VAC line (IPL), VAC load (OPL), control power (CPL), and 24V brake power (PSL) replacement connectors. Includes I/O (IOL), VAC line (IPL), VAC load (OPL), control power (CPL), 230V auxiliary output (P2L), 24V brake power (PL), and 230V auxiliary input (APL) replacement connectors. Includes I/O connector (TB3), drive connector (TB), and motor connector (TB2). Includes I/O connector (TB3), 230V input power connector (TB4), drive connector (TB), and motor connector (TB2) XNLIM XNLIM XNRBM XNRBM Publication GMC-SG00O-EN-P March 200

11 Chapter 2 Motion Control Accessories AC Line Filters This section contains AC line filter selection tables, specification tables, and dimension drawings. Use the tables below to match an AC line filter to your servo drive. AC Line Filter Selection Drive Family () Kinetix 2000 Kinetix 6000 Drive 2093-AC05-Mxx 2094-AC05-MP5-S 2094-AC05-M0-S 2094-AC09-M02-S AC Line Filter 2090-XXLF-TC XXLF-TC XXLF-X330B Drive Family Kinetix 6200/ Kinetix 6500 Drive 2094-BC0-MP5-M 2094-BC0-M0-M 2094-BC02-M02-M 2099-BM06-S 2099-BM07-S AC Line Filter 2090-XXLF-X330B 2090-XXLF-TC AC6-M03-S 2090-XXLF BM08-S 2090-XXLF-TC AC32-M05-S 2090-XXLF-300 Kinetix BM09-S 2090-XXLF-TC BC0-MP5-S 2099-BM0-S 2090-XXLF-TC BC0-M0-S 2090-XXLF-X330B 2099-BM-S 2090-XXLF-TC BC02-M02-S 2099-BM2-S 2090-XXLF-TC BC04-M03-S 2090-XXLF-375B 8720MC-RPS065-Bx 8720MC-RFI MC-RPS 2094-BC07-M05-S 2090-XXLF MC-RPS90-Bx 8720MC-EF90-VB (2) () For Bulletin 2097 line filters used with the Kinetix 300 drive family, refer to AC Line Filters on page 237. (2) Line filter unit includes magnetic contactor, harmonic filter, and varistor. AC Line Filter Selection Drive Family Ultra3000/5000 Ultra500 Drive AC Line Filter Motor Cables > 30 m 2098-xxx UXLF UXLF xxx UXLF UXLF xxx UXLF UXLF xxx UXLF UXLF xxx UXLF UXLF-HV xxx UXLF UXLF-HV xxx-HV030, 2098-xxx-HV050, 2098-xxx-HV00, 2098-xxx-HV UXLF-HV UXLF-HV xxx-HV UXLF-HV UXLF-HV DA, 2092-DA UXLF DA UXLF DA4, 2092-DA UXLF-HV Publication GMC-SG00O-EN-P March 200