Installation Instructions

Kinetix 6000 Multi-axis Servo Drive

Catalog Numbers
2094-ACxx-Mxx, 2094-BCxx-Mxx
2094-ACxx-Mxx-S, 2094-BCxx-Mxx-S
2094-AMxx, 2094-BMxx
2094-AMxx-S, 2094-BMxx-S
2094-BSP2

Topic Page
Important User Information 2
About This Publication 3
Catalog Number Explanation 3
Before You Begin 4
Plan the Installation 6
Install the Kinetix 6000 Drive 12
Connector Data 18
Connect Power 29
Wiring Examples 36
Configure the IAM/AM 58
Configure the Logix SERCOS interface Module 62
Apply Power to the Kinetix 6000 Drive 71
Test and Tune the Axes 74
Interpret Status Indicators 79
Specifications 90
Additional Resources 99

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2 Kinetix 6000 Multi-axis Servo Drive

Important User Information Solid state equipment has operational characteristics differing from those of
electromechanical equipment. Safety Guidelines for the Application, Installation and
Maintenance of Solid State Controls (publication SGI-1.1 available from your local Rockwell
Automation sales office or online at http://literature.rockwellautomation.com) describes
some important differences between solid state equipment and hard-wired
electromechanical devices. Because of this difference, and also because of the wide variety
of uses for solid state equipment, all persons responsible for applying this equipment must
satisfy themselves that each intended application of this equipment is acceptable.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or

consequential damages resulting from the use or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes.
Because of the many variables and requirements associated with any particular installation,
Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on
the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of

information, circuits, equipment, or software described in this manual.

Reproduction of the contents of this manual, in whole or in part, without written permission
of Rockwell Automation, Inc., is prohibited.

Throughout this manual, when necessary, we use notes to make you aware of safety
considerations.

WARNING Identifies information about practices or circumstances that can cause

an explosion in a hazardous environment, which may lead to personal
injury or death, property damage, or economic loss.

Identifies information that is critical for successful application and

IMPORTANT
understanding of the product.

ATTENTION Identifies information about practices or circumstances that can lead

to personal injury or death, property damage, or economic loss.
Attentions help you to identify a hazard, avoid a hazard, and recognize
the consequences.

SHOCK HAZARD
Labels may be located on or inside the equipment, for example, a
drive or motor, to alert people that dangerous voltage may be present.

BURN HAZARD
Labels may be located on or inside the equipment, for example, a
drive or motor, to alert people that surfaces may be dangerous
temperatures.

Allen-Bradley, CompactLogix, ControlLogix, Kinetix, Logix5000, Rockwell Automation, RSLogix, RSLogix 5000, SCANport, and
SoftLogix are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.

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 Kinetix 6000 Multi-axis Servo Drive 3

About This Publication This publication provides basic information for installing and verifying
the operational status of your Kinetix 6000 drive and compatible servo
motor. For detailed information with mounting and wiring examples,
refer to the Kinetix 6000 User Manual, publication 2094-UM001.

For installation information regarding equipment and accessories not

included here, refer to Additional Resources on page 99 or the
information available for those products.

Catalog Number Kinetix 6000 drive catalog numbers and descriptions are listed in the
table below.
Explanation
Kinetix 6000 Drive Catalog Numbers

Catalog Number Catalog Number

Integrated Axis Modules (230V (with safe-off feature) (without safe-off feature)
Kinetix 6000, IAM, 230V, 3 kW converter, 5 A inverter 2094-AC05-MP5-S 2094-AC05-MP5
Kinetix 6000, IAM, 230V, 3 kW converter, 9 A inverter 2094-AC05-M01-S 2094-AC05-M01
Kinetix 6000, IAM, 230V, 6 kW converter, 15 A inverter 2094-AC09-M02-S 2094-AC09-M02
Kinetix 6000, IAM, 230V, 11 kW converter, 24 A inverter 2094-AC16-M03-S 2094-AC16-M03
Kinetix 6000, IAM, 230V, 23 kW converter, 49 A inverter 2094-AC32-M05-S 2094-AC32-M05
Integrated Axis Modules (460V)
Kinetix 6000, IAM, 460V, 6 kW converter, 4 A inverter 2094-BC01-MP5-S 2094-BC01-MP5
Kinetix 6000, IAM, 460V, 6 kW converter, 9 A inverter 2094-BC01-M01-S 2094-BC01-M01
Kinetix 6000, IAM, 460V, 15 kW converter, 15 A inverter 2094-BC02-M02-S 2094-BC02-M02
Kinetix 6000, IAM, 460V, 28 kW converter, 30 A inverter 2094-BC04-M03-S 2094-BC04-M03
Kinetix 6000, IAM, 460V, 45 kW converter, 49 A inverter 2094-BC07-M05-S 2094-BC07-M05
Axis Modules (230V)
Kinetix 6000, AM, 230V, 5 A 2094-AMP5-S 2094-AMP5
Kinetix 6000, AM, 230V, 9 A 2094-AM01-S 2094-AM01
Kinetix 6000, AM, 230V, 15 A 2094-AM02-S 2094-AM02
Kinetix 6000, AM, 230V, 24 A 2094-AM03-S 2094-AM03
Kinetix 6000, AM, 230V, 49 A 2094-AM05-S 2094-AM05
Axis Modules (460V)
Kinetix 6000, AM, 460V, 4 A 2094-BMP5-S 2094-BMP5
Kinetix 6000, AM, 460V, 9 A 2094-BM01-S 2094-BM01
Kinetix 6000, AM, 460V, 15 A 2094-BM02-S 2094-BM02
Kinetix 6000, AM, 460V, 30 A 2094-BM03-S 2094-BM03
Kinetix 6000, AM, 460V, 49 A 2094-BM05-S 2094-BM05
Shunt Module
Kinetix 6000, SM, 230V/460V, 200W N/A 2094-BSP2

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Before You Begin You, the customer, are responsible for inspecting the equipment
before accepting shipment from the freight company. Should you
discover any concealed damage during unpacking, you are
responsible for notifying the freight agent.

Parts List

Remove all packing material, wedges, and braces from within and
around the components. After unpacking, check the item name-plate
catalog number against the purchase order.

Drive Component Ships With

• Wiring plugs for Main VAC input power (IPD), Control VAC input
power (CPD), contactor enable relay (CED), motor power (MP),
and motor/resistive brake power (BC).
Integrated Axis Module (IAM) • Wiring plug header (2090-XNSS-WP) for safe-off (SO) connector
and motion allowed jumper (2090-XNSS-MA).
• One CD with documentation and CAD diagrams for panel layout.
• Installation Instructions, publication 2094-IN001.
• Wiring plugs for motor power (MP) and motor/resistive brake
power (BC).
Axis Module (AM) • Wiring plug header (2090-XNSS-WP) for safe-off (SO) connector
and motion allowed jumper (2090-XNSS-MA).
• Installation Instructions, publication 2094-IN004.
• Wiring plug for an external shunt resistor (RC).
Shunt Module (SM) • Wiring plug for the thermal switch (TS).
• Installation Instructions, publication 2094-IN004.

Motor and auxiliary feedback and I/O connectors are not provided.
Refer to the Kinetix Motion Control Selection Guide, publication
GMC-SG001, for connector kit catalog numbers.

Meet CE Requirements

Meeting CE requires a grounded system, and the method of

ATTENTION
grounding the ac line filter and drive must match. Failure to do
this renders the filter ineffective and may cause damage to the
filter.
For grounding examples, refer to Determine Your Type of Input
Power on page 29.

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 Kinetix 6000 Multi-axis Servo Drive 5

For more information on electrical noise reduction, refer to the System

Design for Control of Electrical Noise Reference Manual, publication
GMC-RM001.

CE Requirements (System without LIM)

To meet CE requirements when your Kinetix 6000 system does not

include the line interface module (LIM), the following requirements
apply.

• Install an ac line filter (2090-XXLF-xxxx) as close to the integrated

axis module (IAM) as possible.
• Use 2090 series motor power cables or use connector kits and
terminate the cable shields to the chassis clamp provided.
• Combined motor power cable length for all axes on the same dc
bus must not exceed 240 m (787 ft) with 460V systems or 160 m
(525 ft) with 230V systems. Drive-to-motor power cables must not
exceed 90 m (295.5 ft).
• Use 2090 series motor feedback cables or use connector kits and
properly terminate the feedback cable shield. Drive-to-motor
feedback cables must not exceed 90 m (295.5 ft).
• Install the Kinetix 6000 system inside an enclosure. Run input
power wiring in conduit (grounded to the enclosure) outside of
the enclosure. Separate signal and power cables.

Refer to the Kinetix 6000 User Manual, publication 2094-UM001, for

wiring instructions and the Kinetix Motion Control Selection Guide,
publication GMC-SG001, for catalog numbers.

CE Requirements (System with LIM)

To meet CE requirements when your Kinetix 6000 system includes the

line interface module (LIM), follow all the requirements as stated in
CE Requirements (System without LIM) and these additional
requirements as they apply to the ac line filter.

• Install the LIM (2094-AL09 or -BL02) as close to the integrated axis

module (IAM) as possible.
• Install the LIM (2094-ALxxS, -BLxxS or -XL75S-Cx) with line filter
(2090-XXLF-xxxx) as close to the IAM as possible.
When the LIM (2094-ALxxS, -BLxxS or -XL75S-Cx) supports two
IAMs, each IAM requires an ac line filter installed as close to the
IAM as possible.

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Plan the Installation Use the information in this section to design your enclosure and
mount the system components on the panel. Refer to the Kinetix 6000
User Manual, publication 2094-UM001, for more information.

For on-line product selection and system configuration tools,

including autocad (DXF) drawings of the product, refer to
http://www.ab.com/e-tools.

System Mounting Requirements

• The Kinetix 6000 system must be enclosed in a grounded

conductive enclosure offering protection as defined in standard
EN 60529 (IEC 529) to IP55 such that they are not accessible to an
operator or unskilled person, in order to comply with UL and CE
requirements. A NEMA 4X enclosure exceeds these requirements
providing protection to IP66.
• The panel you install inside the enclosure for mounting your
system components must be on a flat, rigid, vertical surface that
won’t be subjected to shock, vibration, moisture, oil mist, dust, or
corrosive vapors.
• Size the drive enclosure so as not to exceed the maximum
ambient-temperature rating. Consider heat dissipation
specifications for all drive components.
• Segregate input power wiring and motor power cables from
control wiring and motor feedback cables. Use shielded cable for
power wiring and provide a grounded 360° clamp termination.
• Use high-frequency (HF) bonding techniques to connect the
modules, enclosure, machine frame, and motor housing, and to
provide a low-impedance return path for high-frequency (HF)
energy and reduce electrical noise.
Refer to the System Design for Control of Electrical Noise
Reference Manual, publication GMC-RM001, to better understand
the concept of electrical noise reduction.

IMPORTANT To improve the bond between the power rail and subpanel,
construct your subpanel out of zinc plated (paint-free) steel.

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 Kinetix 6000 Multi-axis Servo Drive 7

Minimum Clearance Requirements

This section provides information to assist you in sizing your cabinet

and positioning your Kinetix 6000 system components.

IMPORTANT Mount the module in an upright position. Do not mount the

module on its side.

Minimum Clearance Requirements

Clearance Above
for Airflow and Installation

Integrated Axis Module (IAM)

(2094-AC05-Mxx is shown
mounted on power rail)

Clearance Left of Clearance Right of

Module is Not Required (1) Module is Not Required (1)

Power Rail Clearance Below

(2094-PRSx is shown) for Airflow and Installation

(1)
The power rail (slim), catalog number 2094-PRSx, does not extend left or right of the first or last module
(respectively). When using power rail (catalog number 2094-PRx) the power rail extends approximately
25.4 mm (1.0 in.) left of the IAM and right of the last module mounted on the rail.

Minimum Clearance Dimensions

Cat. No. Clearance Above, Min Clearance Below, Min Cabinet Depth Clearance, Min
2094-AC05, -AC09, -AMP5, -AM01, -AM02 200 mm (7.9 in.)
2094-BC01, -BC02, -BMP5, -BM01, -BM02 50.8 mm (2.0 in.) 50.8 mm (2.0 in.)
272 mm (10.7 in.)
2094-BSP2
2094-AC16, -AC32, -AM03, -AM05 200 mm (7.9 in.)
305 mm (12.0 in.) 50.8 mm (2.0 in.)
2094-BC04, -BC07, -BM03, -BM05 272 mm (10.7 in.)

IMPORTANT Although clearance left and right of the power rail is not
necessary for ventilation, additional clearance is required when
mounted adjacent to noise sensitive equipment or clean
wireways.

Refer to page 94 for power dissipation specifications.

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Product Dimensions

Integrated Axis Module Dimensions

2094-AC05-MP5-S, AC05-M01-S, and -AC09-M02-S (230V)
2094-BC01-MP5-S, -BC01-M01-S, and -BC02-M02-S (460V)

A Dimensions are in millimeters (inches)

B
125
20 (4.9)
(0.8) 8.9
(0.35)

F
2094-AC05-M01-S (230V)
(shown)
E

2090-XXNFxx-Sxx (flying lead)

Feedback Cable with
D 2090-K6CK-D15Mxx
Low-profile Connector Kit
Power Rail

62
(2.45) Important: Additional clearance below the connector
is necessary to provide the recommended cable-bend
This view illustrates the radius.
additional clearance required for
premolded cable connectors.

2090-UXNFBxx-Sxx (premolded connector) Feedback Cable

Modules are shown mounted to the power rail and the dimensions
reflect that in the depth of the module.

IAM Dimensions
A B D E F
Kinetix 6000 IAM mm (in.) mm (in.) mm (in.) mm (in.) mm (in.)
2094-AC05-MP5-S
2094-AC05-M01-S 198 (7.8) 176 (7.0) 51 (2.0) 206 (8.2) 231 (9.1)
2094-AC09-M02-S
2094-BC01-MP5-S
2094-BC01-M01-S 272 (10.7) 249 (9.8) 0 (0) 256 (10.1) 281 (11.0)
2094-BC02-M02-S

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Integrated Axis Module Dimensions

2094-AC16-M03-S and -AC32-M05-S (230V)
2094-BC04-M03-S and -BC07-M05-S (460V)

A Dimensions are in millimeters (inches)

B C

8.9
(0.35)

2094-BC04-M03-S (460V) shown F

2090-XXNFxx-Sxx (flying lead) Feedback Cable with

Power Rail
2090-K6CK-D15Mxx Low-profile Connector Kit

62
Important: Additional clearance below the connector
(2.45)
is necessary to provide the recommended cable-bend
This view illustrates the radius.
additional clearance required for
premolded cable connectors.

2090-UXNFBxx-Sxx (premolded connector) Feedback Cable

Modules are shown mounted to the power rail and the dimensions
reflect that in the depth of the module.

IAM Dimensions

Kinetix 6000 IAM A B C E F

mm (in.) mm (in.) mm (in.) mm (in.) mm (in.)
2094-AC16-M03-S 125 (4.9)
198 (7.8) 176 (7.0) 302 (11.9) 420 (16.5)
2094-AC32-M05-S 196 (7.7)
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)

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10 Kinetix 6000 Multi-axis Servo Drive

Axis Module Dimensions

2094-AMP5-S, -AM01-S, and -AM02-S (230V)
2094-BMP5-S, -BM01-S, and -BM02-S (460V)

A
B
Dimensions are in millimeters (inches) 70
20 (2.76)
(0.8) 8.9
(0.35)

F
2094-AM01-S (230V) shown

2090-XXNFxx-Sxx (flying lead)

Feedback Cable with 2090-K6CK-D15Mxx
D Low-profile Connector Kit

Power Rail

62 Important: Additional clearance below the connector

(2.45) is necessary to provide the recommended cable-bend
This view illustrates the radius.
additional clearance required for
premolded cable connectors.

2090-UXNFBxx-Sxx (premolded connector) Feedback Cable

Modules are shown mounted to the power rail and the dimensions
reflect that in the depth of the module.

AM Dimensions

Kinetix 6000 AM A B D E F
mm (in.) mm (in.) mm (in.) mm (in.) mm (in.)
2094-AMP5-S
2094-AM01-S 198 (7.8) 176 (7.0) 51 (2.0) 206 (8.2) 231 (9.1)
2094-AM02-S
2094-BMP5-S
2094-BM01-S 272 (10.7) 249 (9.8) 0 (0) 256 (10.1) 281 (11.0)
2094-BM02-S

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 Kinetix 6000 Multi-axis Servo Drive 11

Axis Module Dimensions

2094-AM03-S and -AM05-S (230V)
2094-BM03-S and -BM05-S (460V)

A Dimensions are in millimeters (inches)

B C

8.9
(0.35)

2094-BM03-S (460V) shown F

Power Rail 2090-XXNFxx-Sxx (flying lead) Feedback Cable with

2090-K6CK-D15Mxx Low-profile Connector Kit

62
(2.45) Important: Additional clearance below the connector
is necessary to provide the recommended cable-bend
This view illustrates the radius.
additional clearance required for
premolded cable connectors.

2090-UXNFBxx-Sxx (premolded connector) Feedback Cable

Modules are shown mounted to the power rail and the dimensions
reflect that in the depth of the module.

AM Dimensions
A B C E F
Kinetix 6000 AM mm (in.) mm (in.) mm (in.) mm (in.) mm (in.)
2094-AM03-S
198 (7.8) 176 (7.0) 70 (2.8) 302 (11.9) 420 (16.5)
2094-AM05-S
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)

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12 Kinetix 6000 Multi-axis Servo Drive

Shunt Module Dimensions

2094-BSP2

263
(10.3) Dimensions are in millimeters (inches) 70
249
(2.76)
(9.8) 123 43
20 (4.8) 20 (1.7)
(0.8) (0.8)

281
(11.0)

256
(10.1)

Power Rail

Modules are shown mounted to the power rail and the dimensions
reflect that in the depth of the module.

Install the Kinetix 6000 The procedures in this section assume you have prepared your panel
and understand how to bond your system. For installation instructions
Drive regarding equipment and accessories not included here, refer to the
instructions that came with those products.

ATTENTION
Plan the installation of your system so that you can perform all
cutting, drilling, tapping, and welding with the system removed
from the enclosure. Because the system is of the open type
construction, be careful to keep any metal debris from falling
into it. Metal debris or other foreign matter can become lodged
in the circuitry, which can result in damage to components.

Bulletin 2094 mounting brackets can be used to mount the power rail
or LIM over the ac line filter. Refer to the 2094 Mounting Brackets
Installation Instructions, publication 2094-IN008, when using
mounting brackets with your Kinetix 6000 drive system.

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 Kinetix 6000 Multi-axis Servo Drive 13

The Kinetix 6000 power rail comes in lengths to support one IAM, and
up to seven additional axis modules (AM) or one shunt module (SM).
The connector pins for each slot are covered by a protective boot. The
boot is designed to protect the pins from damage and make sure that
no foreign objects lodge between the pins during installation. Refer to
the Kinetix 6000 Power Rail Installation Instructions, publication
2094-IN003, when installing your power rail.

ATTENTION To avoid damage to the power rail during installation, do not

remove the protective boots until the module for each slot is
ready for mounting.

Determine Mounting Order

Mount IAM, AM, SM, and slot filler (PRF) modules in the order (left to
right) as shown in the figure below. Mount axis modules according to
power utilization (highest to lowest) from left to right starting with the
highest power utilization. If power utilization is unknown, position
axis modules (highest to lowest) from left to right based on amp
rating.

Module Mounting Order

Highest Power Utilization or Amp Rating Lowest Power Utilization or Amp Rating

Integrated Axis Module Axis Module Axis Module Axis Module Axis Module Axis Module Shunt Module Slot Filler Module
2094-AC09-M02 2094-AM02 2094-AM02 2094-AM02 2094-AM01 2094-AM01 2094-BSP2 2094-PRF

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14 Kinetix 6000 Multi-axis Servo Drive

IMPORTANT The IAM must be positioned in the leftmost slot of the power
rail. Position your axis modules, shunt module, and slot fillers to
the right of the IAM.
The 2094 shunt module must be installed to the right of the last
axis module. Only slot filler modules may be installed to the
right of the shunt module.
Do not mount the 2094 shunt module on power rails with a
follower IAM. Common-bus follower IAMs will disable the
internal, rail mounted, and external shunt modules.

SHOCK HAZARD To avoid personal injury due to electrical shock, place a slot
filler module (catalog number 2094-PRF) in any empty slot on
the power rail.
Any power rail connector without a module installed will
disable the Kinetix 6000 system, however control power will
still be present.

Mount the Modules

An IAM is shown in these diagrams to illustrate proper mounting,

however, all modules mount to the power rail using the same
technique.

Follow these steps to mount the IAM, AM, SM, and PRF modules.

1. Remove the protective boots from the power rail connectors.

IMPORTANT The IAM must be positioned in the leftmost slot of the

power rail. Position your axis modules, shunt module, and
slot fillers to the right of the IAM.

2. Determine the next available slot and module for mounting.

3. Remove the label (applied to back and side of module) covering

the pins that mate with the power rail.

ATTENTION
To avoid damage to the pins located on the back of each
module (IAM, AM, SM, and PRF) and to make sure that
module pins mate properly with the power rail, hang
modules as shown in steps 4...7.

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 Kinetix 6000 Multi-axis Servo Drive 15

4. Hang the mounting bracket from the slot on the power rail.

Mounting Bracket

Power Rail Slot

Slots for additional axis modules,

shunt module, or slot filler.

Integrated Axis Module

Power Rail

5. Pivot module downward and align the guide pins on the power
rail with the guide pin holes in the back of the module.

Pivot module downward

and align with guide pins.

Guide Pin
Holes
Guide Pins

Power Rail
(side view)
in upright Integrated Axis Module
vertical position. (side view)
Integrated Axis Module
(rear view)

The IAM can have two or three power rail connectors and guide
pins, the AM can have one or two, all other modules have one.

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16 Kinetix 6000 Multi-axis Servo Drive

6. Gently push the module against the power rail connectors and
into the final mounting position.

Bracket secured in slot

Power Rail

Integrated Axis Module

7. Use 2.26 Nm (20 lb-in.) torque to tighten the mounting screws

located as shown in the figure below.

Bottom front view of Bottom front view of

double-wide IAM or AM single-wide AM, SM, or PRF
(AM is shown). (AM is shown).

Mounting Screws

IMPORTANT There are two mounting screws when mounting

2094-AC32-M05, -BC04-M03, and -BC07-M05 (double-wide)
IAMs and 2094-AM05, -BM03, and -BM05 (double-wide) AMs.

8.
If You Then
Return to Step 1 and complete installation of
Have additional modules to mount your next AM, SM, or PRF module.
Do not have additional modules to mount Go to Mount the External Shunt Module.

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 Kinetix 6000 Multi-axis Servo Drive 17

Mount the External Shunt Module

If your Kinetix 6000 drive requires a means of dissipating regenerative

energy that exceeds the capacity of the 2094 shunt module, install a
Bulletin 1394 external shunt module.

BURN HAZARD To avoid the hazard of shock or burn and ignition of flammable
material, appropriate guarding must be provided. These
resistors can reach temperatures in excess of 350 ° C (662 ° F).
Install per local codes.

Follow these steps to install your external shunt module.

1. Layout the position for your shunt module in the enclosure.

Follow the panel layout recommendations as shown in the Kinetix
6000 User Manual, publication 2094-UM001.

2. Attach the shunt resistor to the cabinet. The recommended

mounting hardware is M6 metric (1/4 in.) bolts.
Follow the recommended high-frequency (HF) bonding
techniques as shown in the Kinetix 6000 User Manual, publication
2094-UM001.

3. Tighten all mounting fasteners.

For external shunt module mounting dimensions, refer to the Kinetix

Motion Control Selection Guide, publication GMC-SG001.

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18 Kinetix 6000 Multi-axis Servo Drive

Connector Data This section provides power, feedback, and I/O connector locations
and signal descriptions for your Kinetix 6000 drive modules. Although
the physical size of the 460V modules is larger than the 230V modules,
the location of the connectors and indicators is identical.

Integrated Axis Module Connectors and Indicators

Integrated Axis Module, Top View

(2094-AM05-MP5-S is shown)
Motor Cable
Shield Clamp
Control Power CTRL 2
1 2

(CPD) Connector CTRL 1

1 2 3 4
DC- Motor Power
1 2 3 4 5 6

W
DC+ (MP) Connector
V
DC Bus / AC Input Power
U
(IPD) Connector L3
1 2 3 4 5 6 7 8 9

MBRK -
L2

1 2 3 4 5 6
MBRK +
L1 COM
Motor/Resistive Brake
PWR (BC) Connector
Contactor Enable CONT EN- DBRK -
1 2

(CED) Connector CONT EN+ DBRK +

Safe-off RX TX BAUD
(SO) Connector DPI RATE

(present only on the 2094-xCxx-Mxx-S) SERCOS Baud Rate

and Optical Power Switches

SERCOS Transmit (Tx) Connector

DPI Connector
SERCOS Receive (Rx) Connector

Integrated Axis Module, Front View

SERCOS
(2094-AC05-MP5-x is shown) Node Address Switch

Seven Segment
Fault Status LED

Drive Status LED

COMM Status LED
Bus Status LED

I/O (IOD) Connector Auxiliary Feedback (AF) Connector

Motor Feedback (MF) Connector

Mounting Screw

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 Kinetix 6000 Multi-axis Servo Drive 19

Axis Module Connectors and Indicators

Axis Module, Top View

(2094-AMP5-S is shown)
Motor Cable
Shield Clamp

1 2 3 4
W Motor Power
V (MP) Connector
U

1 2 3 4 5 6 7 8 9
MBRK -

1 2 3 4 5 6
MBRK +
Safe-off COM Motor/Resistive Brake
(SO) Connector PWR (BC) Connector
DBRK -
(present only on the 2094-xMxx-S) DBRK +

RX TX
BAUD
RATE

SERCOS Baud Rate

and Optical Power Switches

SERCOS Transmit (Tx) Connector

SERCOS Receive (Rx) Connector

Axis Module, Front View

(2094-AMP5 is shown)

Seven Segment
Fault Status LED

Drive Status LED

COMM Status LED
Bus Status LED

I/O (IOD) Connector Auxiliary Feedback (AF) Connector

Motor Feedback (MF) Connector

Mounting Screw

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20 Kinetix 6000 Multi-axis Servo Drive

Integrated Axis Module/Axis Module Connectors

Present on
Designator Description Connector IAM or AM
IOD User I/O (drive) 26-pin high-density D-shell IAM/AM
MF Motor feedback 15-pin high-density D-shell (female) IAM/AM
AF Auxiliary feedback 15-pin high-density D-shell (male) IAM/AM
CPD Control input power (drive) 2-position plug/header IAM
VAC Input Power (drive) 230V and
dc bus 6-position plug/header IAM
IPD
VAC Input Power (drive) 460V and
dc bus 6-position plug/header IAM

CED Contactor enable 2-position plug/header IAM

MP Motor power 4-position plug/header IAM/AM
BC Dynamic/motor brake 6-position plug/header IAM/AM
SO Safe-off 9-position plug/header IAM/AM
Tx and Rx SERCOS transmit and receive SERCOS fiber optic (2) IAM/AM
DPI DPI DPI IAM

Safe-off Connector Pinout

Each IAM (2094-xCxx-Mxx-S) and AM (2094-xMxx-S) ships with the

(9-pin) wiring plug header (2090-XNSS-WP) and motion allowed
jumper (2090-XNSS-MA) installed in the safe-off (SO) connector. With
the motion allowed jumper installed, the safe-off feature is not used.
For safe-off wiring information, refer to the Kinetix Safe-off Feature
Safety Reference Manual, publication GMC-RM002.

Motion Allowed Jumper (2090-XNSS-MA)

Kinetix 6000 IAM/AM

(Kinetix 6000 AM is shown) 1
1 2
3 4
5 6 Motion Allowed Jumper
7 8
9
Safe-off
(SO) Connector Wiring Plug Header

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 Kinetix 6000 Multi-axis Servo Drive 21

Headers in this table extend the safe-off (SO) connector signals for use
in wiring single and multiple safe-off drive configurations, or to
jumper around (not use) the safe-off function.

Refer to the Kinetix Safe-off Feature Safety Reference Manual,

publication GMC-RM002, for more information on safe-off headers.

IAM/AM Safe-off 9-pin (SO) Connector

Safe-off (SO) Also Applies to These

Connector Pin SO Connector Headers Description Signal

1 One side of the normally-closed monitoring contact of relay 2 FDBK2+

2 Other side of the normally-closed monitoring contact of relay 2 FDBK2-
3 One side of the normally-closed monitoring contact of relay 1 FDBK1+
2090-XNSS-WP and
4 2090-XNSM-W Other side of the normally-closed monitoring contact of relay 1 FDBK1-
5 Coil of safety-relay 2 SAFETY ENABLE2+
6 Return for safety-relay coil power (both relays) SAFETY ENABLE-
7 Coil of safety relay 1 SAFETY ENABLE1+
8 2090-XNSS-WP and Power for continuous enable of the safety function, 500 mA max 24V+
9 2090-XNSS-MA Power return used for continuous enable of safety function 24V_COM

IMPORTANT Pins SO-8 and -9 (24V+) are only used by the 2090-XNSS-MA
motion allowed jumper. When wiring to the 2090-XNSS-WP
(wiring plug) header, the 24V supply must come from an
external source.

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22 Kinetix 6000 Multi-axis Servo Drive

I/O Connector Pinout

IAM/AM I/O 26-pin (IOD) Connector.

IOD Pin Description Signal IOD Pin Description Signal

1 Hardware enable 24V dc power supply +24V_PWR 14 High speed registration 1 input REG1
2 Hardware enable input ENABLE 15 Common for registration REG_COM
3 Common +24V_COM 16 24V registration power REG_24V
4 Home switch 24V dc power supply +24V_PWR 17 High speed registration 2 input REG2
5 Home switch input HOME 18 Common for registration REG_COM
6 Common +24V_COM 19 Reserved —
7 Positive overtravel 24V dc power supply +24V_PWR 20 Reserved —
8 Positive overtravel limit switch input OT+ 21 Reserved —
9 Common +24V_COM 22 Reserved —
10 Negative overtravel 24V dc power supply +24V_PWR 23 Analog output 0 DAC0
11 Negative overtravel limit switch input OT- 24 Analog output common DAC_COM
12 Common +24V_COM 25 Analog output 1 DAC1
13 24V registration power REG_24V 26 Analog output common DAC_COM

IMPORTANT Signals +24V_PWR and +24V_COM are a 24V dc source you

can use only for the inputs listed above.

Pin Orientation for 26-pin I/O (IOD) Connector

26-pin IAM/AM
I/O Connector

Pin 18
Pin 9
Pin 26

Pin 19 Pin 1
Pin 10

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 Kinetix 6000 Multi-axis Servo Drive 23

Motor Feedback Connector Pinouts

Stegmann Hiperface (SRS/SRM)

MF Pin Description Signal MF Pin Description Signal

1 Sine differential input+ SINE+ 9 Reserved —
2 Sine differential input- SINE- 10 Hiperface data channel DATA-
3 Cosine differential input+ COS+ 11 Motor thermal switch (normally closed) (1) TS
4 Cosine differential input- COS- 12 Reserved —
5 Hiperface data channel DATA+ 13 Reserved —
6 Common ECOMM 14 Encoder power (+5V) EPWR_5VM
7 Encoder power (+9V) EPWR_9VM 15 Reserved —
8 Reserved —
(1)
Not applicable unless motor has integrated thermal protection.

TTL or Sine/Cosine with Index Pulse and Hall Commutation

MF Pin Description Signal MF Pin Description Signal

1 AM+ / Sine differential input+ AM+ / SINE+ 9 Reserved —
2 AM- / Sine differential input- AM- / SINE- 10 Index pulse- IM-
3 BM+ / Cosine differential input+ BM+ / COS+ 11 Motor thermal switch (normally closed) (1) TS
4 BM- / Cosine differential input- BM- / COS- 12 Single-ended 5V hall effect commutation S1
5 Index pulse+ IM+ 13 Single-ended 5V hall effect commutation S2
6 Common ECOMM 14 Encoder power (+5V) EPWR_5VM
7 Encoder power (+9V) EPWR_9VM 15 Reserved —
8 Single-ended 5V hall effect commutation S3
(1) Not applicable unless motor has integrated thermal protection.

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24 Kinetix 6000 Multi-axis Servo Drive

Resolver Transmitter (transformation ratio = 0.25)

MF Pin Description Signal MF Pin Description Signal

1 Sine differential input+ S2 9 Reserved —
2 Sine differential input- S4 10 Resolver excitation R2
Motor thermal switch
3 Cosine differential input+ S1 11 TS
(normally closed) (1) (2)
4 Cosine differential input- S3 12 Reserved —
5 Resolver excitation R1 13 Reserved —
6 Common ECOMM 14 Encoder power (+5V) EPWR_5VM
7 Encoder power (+9V) EPWR_9VM 15 Reserved —
8 Reserved —
(1) Not applicable unless motor has integrated thermal protection.
(2)
When using 1326AB (resolver-based) motors, use Low-profile Connector Kit (2090-K6CK-D15MF) that connects the filtered thermal switch (pins 16 and 17) to MF-11
and MF-6.

IMPORTANT To meet CE requirements, combined motor power cable length

for all axes on the same dc bus must not exceed 240 m (787 ft)
with 460V systems or 160 m (525 ft) with 230V systems.
Drive-to-motor power cables must not exceed 90 m (295.5 ft).

Pin Orientation for 15-pin Motor Feedback (MF) Connector

15-pin IAM/AM
Motor Feedback Connector

Pin 10
Pin 15 Pin 5

Pin 11 Pin 1
Pin 6

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 Kinetix 6000 Multi-axis Servo Drive 25

Auxiliary Feedback Connector Pinouts

For TTL devices, the position count will increase when A leads B. For
sinusoidal devices, the position count will increase when cosine leads
sine.

Stegmann Hiperface (SRS and SRM only)

AF Pin Description Signal AF Pin Description Signal

1 Sine differential input+ SINE+ 9 Reserved —
2 Sine differential input- SINE- 10 Hiperface data channel DATA-
3 Cosine differential input+ COS+ 11 Reserved —
4 Cosine differential input- COS- 12 Reserved —
5 Hiperface data channel DATA+ 13 Reserved —
6 Common ECOM 14 Encoder power (+5V) EPWR_5V
7 Encoder power (+9V) EPWR_9V 15 Reserved —
8 Reserved —

TTL or Sine/Cosine with Index Pulse

AF Pin Description Signal AF Pin Description Signal

1 A+ / Sine differential input+ A+ / SINE+ 9 Reserved —
2 A- / Sine differential input- A- / SINE- 10 Index pulse- I-
3 B+ / Cosine differential input+ B+ / COS+ 11 Reserved —
4 B- / Cosine differential input- B- / COS- 12 Reserved —
5 Index pulse+ I+ 13 Reserved —
6 Common ECOM 14 Encoder power (+5V) EPWR_5V
7 Encoder power (+9V) EPWR_9V 15 Reserved —
8 Reserved —

Pin Orientation for 15-pin Auxiliary Feedback (AF) Connector

15-pin IAM/AM
Auxiliary Feedback Connector

Pin 6
Pin 11 Pin 1

Pin 15 Pin 5
Pin 10

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26 Kinetix 6000 Multi-axis Servo Drive

IAM Input Connector Pinouts

Control Power Connector

CPD Pin Description Signal
1 CTRL 2
Control power VAC input
2 CTRL 1

DC Bus and Input Power Connector

IPD Pin Description Signal
1 An integral, unregulated power supply, DC-
consisting of ac line input, three-phase
2 bridge rectifier, and filter capacitors. DC+

3 Chassis ground
4 L3
5 Three-phase input power L2
6 L1

Contactor Enable Connector

CED Pin Description Signal
1 Relay-driven dry contact used in the CONT EN-
safety string for a three-phase power
2 contactor CONT EN+

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 Kinetix 6000 Multi-axis Servo Drive 27

IAM and AM Motor Power and Brake Connector Pinouts

Motor Power Connector

MP Pin Description Signal
4 Chassis ground
3 W
2 Three-phase motor power V
1 U

IMPORTANT To meet CE requirements, combined motor power cable length

for all axes on the same dc bus must not exceed 240 m (787 ft)
with 460V systems or 160 m (525 ft) with 230V systems.
Drive-to-motor power cables must not exceed 90 m (295.5 ft).

Motor Brake/Resistive Brake Connector

BC Pin Description Signal
6 MBRK-
Motor brake connections
5 MBRK+
4 Motor brake common COM

3 +24V brake input power (from LIM or PWR

customer supplied)
2 Resistive brake module (RBM) DBRK-
connections (from RBM and safety
1 string) DBRK+

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28 Kinetix 6000 Multi-axis Servo Drive

Shunt Module Connectors and Indicators

Shunt Module, Front View

Motor Cable (2094-BSP2)
Shield Clamp

COL

1 2 3
INT
External Shunt Resistor
DC+ (RC) Connector
TS2 External Thermal Switch
1 2

TS1 (TS) Connector

Shunt Module, Front View

(2094-BSP2)

Shunt Fault LED

Over-Temp Fault LED
Bus Status LED

Mounting Screw

Shunt Module Connectors

Designator Description Connector

RC External shunt resistor connector Three-position connector housing
TS Thermal switch connector Two-position connector housing

External Shunt Resistor Three-pin (RC) Connector Pinouts

RC Pin Description Signal
1 External shunt resistor connection DC+
2 Internal shunt connection INT
3 Shunt collector connection COL

External Thermal Switch Two-pin (TS) Connector Pinouts

TS Pin Description Signal
1 External passive shunt module thermal TS1
2 switch connections TS2

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 Kinetix 6000 Multi-axis Servo Drive 29

Connect Power For Kinetix 6000 drive components not included here, refer to
Additional Resources on page 99, or the information available for
those products.

Determine Your Type of Input Power

Before wiring input power to your Kinetix 6000 system, you must
determine the type of input power you are connecting to. The IAM is
designed to operate in both grounded and ungrounded environments.

ATTENTION
When using a LIM with your Kinetix 6000 drive, the VAC LINE
input power must come from a grounded configuration (refer to
the figure below).
When not using a LIM with your Kinetix 6000 drive, ungrounded
configurations are allowed, but you must set the jumper to
prevent high electrostatic build-up.
Refer to the Kinetix 6000 User Manual, publication
2094-UM001, for more information.

Grounded Power Configurations

The grounded (WYE) power configuration lets you ground your

three-phase power at a neutral point. This type of grounded power
configuration is preferred.

Grounded Power Configuration (WYE Secondary)

Integrated Axis Module, Top View

(2094-ACxx-Mxx-S is shown)

CTRL 2
1 2

Transformer (WYE) Secondary CTRL 1

1 2 3 4

DC-
1 2 3 4 5 6

L3 W
DC+
V
Transformer U
L3
L2
1 2 3 4 5 6 7 8 9

MBRK -
L2
1 2 3 4 5 6

MBRK +
L1 COM

Three-phase L1 CONT EN-

PWR
DBRK -
1 2

Input VAC CONT EN+ DBRK +

RX TX BAUD
DPI RATE
Phase Ground
Bonded Cabinet
Ground

Ground Grid or to Power Rail Ground Stud

Power Distribution Ground

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30 Kinetix 6000 Multi-axis Servo Drive

Grounded (B-Phase) Power Configuration (Delta Secondary)

Integrated Axis Module, Top View

(2094-BCxx-Mxx-S is shown)

CTRL 2

1 2
CTRL 1

1 2 3 4
DC-
Transformer (Delta) Secondary

1 2 3 4 5 6
W
DC+
V
Transformer L3 U
L3

1 2 3 4 5 6 7 8 9
MBRK -
L2

1 2 3 4 5 6
MBRK +
L1 COM
PWR
CONT EN- DBRK -

1 2
CONT EN+ DBRK +
L2
RX TX BAUD
DPI RATE

L1

Bonded Cabinet to Power Rail Ground Stud

Ground

Ground Grid or
Power Distribution Ground

The integrated axis module (IAM) has a factory-installed ground

jumper configured for grounded power distribution.

IMPORTANT If you determine that you have grounded power distribution in

your plant, you do not need to modify your IAM.

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Ungrounded Power Configurations

Ungrounded power configurations are allowed, but you must jumper

across a 120 kΩ resistor (internal to the IAM) to prevent high
electrostatic build-up. The ungrounded power configuration (shown
below) does not provide a neutral ground point. The IAM has a
ground jumper set for grounded power distribution (default
configuration).

IMPORTANT If you determine that you have ungrounded power distribution

in your facility, you need to move the default jumper (configured
for grounded power) to the ungrounded power position to
prevent electrostatic buildup inside the IAM.
Refer to the Kinetix 6000 User Manual, publication
2094-UM001, for more information.

Ungrounded Power Configuration

Integrated Axis Module, Top View

(2094-BCxx-Mxx-S is shown)

CTRL 2
1 2

CTRL 1

1 2 3 4
DC-
1 2 3 4 5 6

L3 DC+
W
Transformer V
U
L2 L3 1 2 3 4 5 6 7 8 9
MBRK -
L2

1 2 3 4 5 6
Three-phase MBRK +
L1
Input VAC COM

L1 CONT EN-
PWR
DBRK -
1 2

CONT EN+ DBRK +

RX TX BAUD
DPI RATE
Chassis Ground
Bonded Cabinet
Ground

Ground Grid or to Power Rail Ground Stud

Power Distribution Ground

ATTENTION
Ungrounded systems do not reference each phase
potential to a power distribution ground. This can result
in an unknown potential to earth ground.

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32 Kinetix 6000 Multi-axis Servo Drive

DC Common Bus Configurations

When an IAM is used in a dc common bus configuration, the IAM is

known as a leader IAM or follower IAM. The IAM (non-common bus)
and leader IAM have identical three-phase input power connections.
The leader IAM is responsible for discharging the dc bus, and for
providing common bus follower drives with dc bus pre-charge, bus
regulation, phase-loss detection, and ground fault detection. Follower
IAMs do not have three-phase input power connections, but have dc
bus connections from a leader IAM.

IAM Terminology and Use

This IAM Is Wired And is

IAM With three-phase input power. Not wired in common bus mode.
With three-phase input power, but has dc common
Leader IAM Wired in common bus mode.
bus connections to a follower IAM.
Wired in common bus mode and
Without three-phase input power, but has dc
Follower IAM configured using RSLogix 5000
common bus connections from a leader IAM.
software.

IMPORTANT Use Kinetix 6000 drive firmware v1.85 and RSLogix 5000
software v15, for dc common bus power configurations.

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 Kinetix 6000 Multi-axis Servo Drive 33

Power Wiring Requirements

Wire should be copper with 75 ° C (167 ° F) minimum rating. Phasing

of main ac power is arbitrary and earth ground connection is required
for safe and proper operation.

IMPORTANT The National Electrical Code and local electrical codes take
precedence over the values and methods provided.

IAM Power Wiring Requirements

Connects to Terminals Recommended

Module Catalog Number Description Wire Size Strip Length Torque Value
Pin Signal 2
mm (AWG) mm (in.) Nm (lb-in.)

2094-AC05-Mxx-S 0.5 - 0.6

2.5 (14) 10 (0.38)
2094-AC09-Mxx-S (4.4 - 5.3)
IAM
(230V) 2094-AC16-Mxx-S IPD-1 DC- 10 (8) 2.4 - 3.0
(1) IPD-2 DC+ 16 (0.63)
2094-AC32-Mxx-S DC bus 25 (4) (21.6 - 26.5)
IPD-3
and
2094-BC01-Mxx-S IPD-4 L3 1.2 - 1.5
VAC input power 4.0 (12) 10 (0.38)
2094-BC02-Mxx-S IPD-5 L2 (10.6 - 13.2)
IAM IPD-6 L1
(460V) 2094-BC04-Mxx-S 10 (8) 2.4 - 3.0
16 (0.63)
2094-BC07-Mxx-S 25 (4) (21.6 - 26.5)

CPD-1 CTRL 2 0.5 - 0.6

Control input power 2.5 (14)
CPD-2 CTRL 1 (4.4 - 5.3)
IAM
2094-xCxx-Mxx-S 10 (0.38)
(230V or 460V) CED-1 CONT EN- 0.5 - 0.6
Contactor Enable 2.5 (14) (2)
CED-2 CONT EN+ (4.4 - 5.3)

(1)
DC common bus connections (leader IAM to follower IAM) should be kept as short as possible.
(2)
The actual gauge of the contactor enable wiring depends on the system configuration. Consult your machine builder, the NEC, and applicable local codes.

ATTENTION
To avoid personal injury and/or equipment damage, make sure
installation complies with specifications regarding wire types,
conductor sizes, branch circuit protection, and disconnect
devices. The National Electrical Code (NEC) and local codes
outline provisions for safely installing electrical equipment.
To avoid personal injury and/or equipment damage, make sure
motor power connectors are used for connection purposes only.
Do not use them to turn the unit on and off.
To avoid personal injury and/or equipment damage, make sure
shielded power cables are grounded to prevent potentially high
voltages on the shield.

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34 Kinetix 6000 Multi-axis Servo Drive

IAM/AM Power Wiring Requirements

Connects to Terminals Recommended

Module Catalog Number Description Wire Size Strip Length Torque Value
Pin Signal mm2 (AWG) mm (in.) Nm (lb-in.)
2094-AC05-Mxx-S
2094-AC09-Mxx-S
2094-BC01-Mxx-S Motor power 0.5 - 0.6
2094-BC02-Mxx-S cable depends 10 (0.38)
(4.4 - 5.3)
2094-AMP5-S, -AM01-S, on motor/drive
-AM02-S, -BMP5-S, MP-4 combination.
-BM01-S, and -BM02-S MP-3 W
Motor power
MP-2 V 6 (10) max
2094-AC16-Mxx-S
MP-1 U 1.2 - 1.5
2094-AC32-Mxx-S 10 (0.38)
(10.6 - 13.2)
2094-AM03-S, -AM05-S
2094-BC04-Mxx-S
2.4 - 3.0
2094-BC07-Mxx-S 25 (4) max 16 (0.63)
(21.6 - 26.5)
2094-BM03-S, -BM05-S
BC-6 MBRK-
IAM or AM IAM or AM BC-5 MBRK+
(230 or 460V) BC-4 COM 0.22 - 0.25
Brake power 0.75 (18) 10 (0.38)
2094-xCxx-Mxx-S and BC-3 PWR (1.9 - 2.2)
2094-xMxx-S BC-2 DBRK-
BC-1 DBRK+
FDBK2+
FDBK2-
SO-1 FDBK1+
SO-2 FDBK1- 0.75 (18)
IAM or AM SO-3 SAFETY (stranded wire
(230 or 460V) SO-4 ENABLE2+ with ferrule)
Safe-off SO-5 SAFETY 7.0 (0.275) 0.235 (2.0)
2094-xCxx-Mxx-S and SO-6
2094-xMxx-S ENABLE- 1.5 (16)
SO-7 SAFETY
SO-8 (solid wire)
ENABLE1+
SO-9 24V +
24V_COM

Shunt Module Power Wiring Requirements

Connects to Terminals Recommended

Module Description Wire Size Torque Value
Pin Signal mm2 (AWG) Nm (lb-in.)
RC-1 DC+
1394-SR-xxxx
1.2 - 1.5
External passive RC-2 INT 10 (8) (1)
(10.6 - 13.2)
SM (230/460V) shunt module
RC-3 COL
2094-BSP2
TS-1 TS1 0.22 - 0.25
Thermal switch 0.75 (18)
TS-2 TS2 (1.9 - 2.2)

(1) 105 °C (221 °F), 600V.

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 Kinetix 6000 Multi-axis Servo Drive 35

Electrical Guidelines

For detailed information and specific examples on all of these topics,

refer to the Kinetix 6000 User Manual, publication 2094-UM001.

For power wiring requirements and specifications, including

recommended fuse sizes for the LIM (2094-AL09 and -BL02), refer to
the Line Interface Module Installation Instructions, publication
2094-IN005.

ATTENTION The National Electrical Code and local electrical codes take
precedence over the values and methods provided.
Implementation of these codes is the responsibility of the
machine builder.

• Segregate input power wiring and motor power cables from

control wiring and motor feedback cables. Use shielded cable for
power wiring and provide a 360° clamp termination.
• Size isolation transformer, if needed for control power, to 150% of
the IAM output power rating.
• Do not exceed the recommended cycling rate in applications that
repeatedly apply and remove main input power.
• An ac line filter is required for CE. Mount the filter on the same
panel as the drive and as close to the drive as possible.
• Wiring the contactor enable (CED) relay is required.

ATTENTION
To avoid injury or damage to the drive, wire the contactor
enable relay into your safety control string so that:
• three-phase power is removed from the drive in the
event of shutdown fault conditions.
• drive operation is prevented when the power rail is not
fully populated.
• control power is applied to the drive prior to
three-phase power.
Refer to IAM Wiring Example (without LIM) on page 40 for
wiring examples.

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36 Kinetix 6000 Multi-axis Servo Drive

Wiring Examples This section provides wiring examples to assist you in wiring the
Kinetix 6000 system. The notes below apply to the wiring examples
on the pages that follow.

Note Information
1 For power wiring specifications, refer to Power Wiring Requirements on page 33.
2 For input fuse and circuit breaker sizes, refer to the Kinetix 6000 User Manual, publication 2094-UM001.
3 For ac line filter specifications, refer to the Kinetix Motion Control Selection Guide, publication GMC-SG001.
4 Terminal block is required to make connections.
5 2094-BCxx-Mxx (460V) IAM requires step down transformer for single-phase control power input. Source 2094-ACxx-Mxx (230V) IAM control
power from the three-phase input power (line-to-line). Supplying 230V control power from any other source requires an isolation transformer. If
used, do not ground either leg of the isolation transformer output.
6 LIM models 2094-ALxxS and -BLxxS can supply a maximum of eight axes. LIM models 2094-XL75S-Cx can supply a maximum of sixteen axes. For
common bus systems with more than sixteen axes, multiple LIMs (or control power transformers) are required.
7 Contactor coil (M1) needs integrated surge suppressors for ac coil operation. Refer to the Kinetix 6000 User Manual, publication 2094-UM001.
8 Drive Enable input must be opened when main power is removed, or a drive fault will occur. A delay of at least 1.0 second must be observed
before attempting to enable the drive after main power is restored.
9 Cable shield clamp must be used in order to meet CE requirements. No external connection to ground is required.
10 Default configuration for jumper is for grounded power at user site. Ungrounded sites must jumper the bleeder resistor to prevent high
electrostatic buildup. Refer to the Kinetix 6000 User Manual, publication 2094-UM001 for more information.
11 Leave jumper between PR2 and PR3 as shown to utilize the internal pre-charge resistor. Remove jumper when external pre-charge/circuit is
required. For more information, refer to the 8720MC Regenerative Power Supply Installation Manual, publication 8720MC-RM001.
12 Implementation of safety circuits and risk assessment is the responsibility of the machine
ATTENTION
builder. Please reference international standards EN 1050 and EN 954 estimation and safety
performance categories. For more information refer to Understanding the Machinery Directive,
publication SHB-900.
13 Wiring the Contactor Enable relay is required. To avoid injury or damage to the drive, wire the
ATTENTION
Contactor Enable relay into your safety control string. Refer to the Kinetix 6000 User Manual,
publication 2094-UM001, for more information. The recommended minimum wire size for wiring
the safety circuit to the contactor enable connector is 1.5 mm2 (16 AWG).
14 The Kinetix 6000 axis module referenced is either an individual axis module (2094-xMxx) or the same axis module that resides within an
integrated axis module (2094-xCxx-Mxx).
15 For motor cable specifications, refer to the Kinetix Motion Control Selection Guide, publication GMC-SG001.
16 Wire colors are for flying lead cable (2090-XXNFxx-Sxx) and may vary from the premolded connector cable (2090-UXNFBxx-Sxx).
17 Y-Series feedback cables have a drain wire that must be folded back under the low-profile connector clamp.
18 Only the MPG-Bxxx encoder uses the +5V dc supply. MPL-B3xx, -B4xx, -B45xx, -B5xx, -B6xx, -B8xx, -B9xx, encoders use the +9V dc supply.
19 MPL-A3xx, -A4xx, -A45xx, and MPG-Axxx encoders use the +5V dc supply. Only the MPL-A5xx encoder uses the +9V dc supply.
20 MPL-A15xx, -A2xx, MPF-A3xx, -A4xx, -A45xx, and MPS-Axxx encoders use the +5V dc supply. MPL-B15xx, -B2xx, MPF -A5xx, -Bxxx, and
MPS-Bxxx encoders use +9V dc.
21 Brake wires on MPF-A/B5xx motors are labeled plus (+) and minus (-). All other MP-Series motor brake wires are labeled F and G.
22 Refer to 1336 Active Shunt Input Fuse Specifications for input fuse specifications. Current requirements are for master only shunt applications.
For master/slave applications, you must multiply the current requirement by the number of shunt units.
23 Refer to 1336 Active Shunt Fault Relay Specifications for fault relay specifications. This normally closed contact (TTL compatible) is closed when
115V ac is applied and opens when a shunt fault or loss of power occurs.

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 Kinetix 6000 Multi-axis Servo Drive 37

Power Wiring Examples

Single IAM Wiring Example with LIM (2094-AL09 or -BL02)

Kinetix 6000
Integrated Axis Module
2094-ACxx-Mxx or -BCxx-Mxx

Power Rail Note 9

Bonded Cabinet Ground Stud
Ground Bus* Cable Shield
Clamp

LINE INTERFACE MODULE 4

Three-phase
2094-AL09 or -BL02 3
Motor Power W Motor Power
(MP) Connector 2 Connections
V
1 Note 15
Single-phase (CPL) Output 1 1 U
L2 CTRL 2 Control Power
195...264V ac RMS 2 2 (CPD) Connector
Notes 1 L1 CTRL 1

1
DC-
2 DC Bus
DC+
3 and
VAC LINE Three-phase Ground Three-phase
(IPL) Input VAC LOAD Three-phase 4 Input (IPD)
L3 L3' L3
195...264V ac RMS (OPL) Output 5 Connector
or 324...528V ac RMS L2 195...264V ac RMS L2' L2
6
Note 1 L1 or 324...528V ac RMS L1' L1
Note 1
Input Fusing *

1
MBRK_PWR
2
24V dc Output MBRK_COM
3
(PSL) Connector MBRK_PWR
4 6
MBRK_COM BR-
MBRK - Motor Brake
5 BR+ Connections
MBRK +
4
COM
Motor/Resistive 3
Brake (BC) Connector PWR
24-26 2 BR-
IO_PWR DBRK - Resistive Brake
1 BR+ Connections
DBRK +
I/O (IOL) STOP *
Connector
13
Note 12, 13 COIL_A1
20-22 1
IO_COM CONT EN- Contactor Enable
4 2 (CED) Connector
COIL_A2 CONT EN+
Note 13 * Indicates User Supplied Component

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38 Kinetix 6000 Multi-axis Servo Drive

Multiple IAM Wiring Example with LIM (2094-ALxxS, -BLxxS, or -XL75S)

Kinetix 6000
Integrated Axis Module
2094-ACxx-Mxx or -BCxx-Mxx
(IAM_1)

Bonded Cabinet Power Rail Note 9

Ground Bus* Ground Stud
Cable Shield
Clamp

Line Interface Module 4

Three-phase
2094-ALxxS, -BLxxS, or W
3
Motor Power
Motor Power
-XL75S-Cx (MP) Connector 2 Connections
V
1 Note 15
Note 4 1 U
Control Power CTRL 2 1 CTRL 2 Control Power
Single-phase (CPL) Output 2 2 (CPD) Connector
195...264V ac RMS CTRL 1 CTRL 1
Note 1
To CPD connector,
IAM_2
Note 6
1
DC-
2 DC Bus
DC+ and
1 1 Note 4 3
VAC LOAD Three-phase Three-phase
VAC LINE Three-phase 2 (OPL) Output 2 Three-phase 4 Input (IPD)
L3 L3' L3
(IPL) Input 3 195...264V ac RMS 3 AC Line Filter 5 Connector
195...264V ac RMS L2 or 324...528V ac RMS L2' Note 3 L2
4 4 6
or 324...528V ac RMS L1 Note 1 L1' L1
Note 1

To IPD connector,
IAM_2

Auxiliary Power 1
L1
Single-phase (APL) Input 2
93...121V ac RMS L2/N 1
IO_PWR2
or 196...253V ac RMS 2 To BC connector, IAM_2
(this connector is present IO_COM2
only on the 2094-XL75S-Cx) 3
24V dc (P1L) Output IO_PWR2
Note 1 4
IO_COM2
5
IO_PWR2
6
IO_COM2 Motor Brake
Connections
6 BR-
MBRK -
5 BR+
MBRK +
4
COM
Motor/Resistive 3
Brake (BC) Connector PWR
2 BR-
1, 3, 5 DBRK -
IO_PWR1
1 BR+
DBRK +
I/O (IOL) STOP *
Connector Resistive Brake
7 Connections
Note 12, 13 COIL_E1
2, 4, 6 1
IO_COM1 CONT EN- Contactor Enable
8 2 (CED) Connector
COIL_E2 CONT EN+
Note 13

* Indicates User Supplied Component

To CED connector, IAM_2

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 Kinetix 6000 Multi-axis Servo Drive 39

Kinetix 6000
Integrated Axis Module
2094-ACxx-Mxx or -BCxx-Mxx
(IAM_2)

Power Rail Note 9

Bonded Cabinet Ground Stud
Cable Shield
Ground Bus*
Clamp

4
Three-phase
3 Motor Power
Motor Power W
(MP) Connector 2 Connections
V Note 15
1
1 U
CTRL 2 Control Power
From CPL connector, LIM 2 (CPD) Connector
CTRL 1

1
DC-
2 DC Bus
DC+ and
3
Three-phase
Three-phase 4 Input (IPD)
L3
From OPL connector, LIM AC Line Filter 5 Connector
Note 3 L2
6
L1

6 BR-
MBRK - Motor Brake
5 BR+ Connections
MBRK +
4
COM
Motor/Resistive 3 From P1L connector, LIM
Brake (BC) Connector PWR
2 BR-
DBRK - Resistive Brake
1 BR+
DBRK + Connections
1
From IOL connector, LIM CONT EN- Contactor Enable
2 (CED) Connector
and CED connector, IAM_1 CONT EN+
Note 13

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40 Kinetix 6000 Multi-axis Servo Drive

The configuration on this page does not include a LIM. You must
supply input power components. The single-phase and three-phase
line filters are wired downstream of fusing and the M1 contactor.

Wiring the Contactor Enable relay is required. To avoid injury or

ATTENTION
damage to the drive, wire the Contactor Enable relay into your
safety control string.
Refer to the Kinetix 6000 User Manual, publication
2094-UM001, for more information.

IAM Wiring Example (without LIM)

Kinetix 6000
Integrated Axis Module
2094-ACxx-Mxx or -BCxx-Mxx

Bonded Cabinet Ground Bus * Power Rail

Ground Stud
Chassis

1 Note 9
Single-phase CTRL 2 Control Power
Single-phase Input 2 Cable Shield
AC Line Filter CTRL 1 (CPD) Connector
95...264V ac RMS Clamp
Note 3
Notes 1, 2
Input Fusing *
Isolation 4
Transformer * 3 Three-phase
Note 5 Motor Power W Motor Power
2
(MP) Connector V Connections
1 1 Note 15
DC- U
2 DC Bus
DC+
Note 4 3 and
Three-phase
Three-phase 4
Three-phase Input L3 Input (IPD)
195...264V ac RMS AC Line Filter 5 Connector 6 BR-
L2 MBRK -
or 324...528V ac RMS Note 3 6 Motor Brake
L1 5 BR+
Notes 1, 2 MBRK + Connections
Input Fusing * 4
M1 * COM
Motor/Resistive User Supplied
Notes 7, 8 3
Brake (BC) Connector PWR 24V dc (1.2A maximum)
2 BR-
DBRK -
Resistive Brake
1 BR+
Notes 7, 13 1 DBRK + Connections
CONT EN- Contactor Enable
2
CONT EN+ (CED) Connector
STOP * START * Note 13
24V ac/dc CR1 *
or
120V ac
50/60 Hz M1 * CR1 * Ground Jumper
Note 10
CR1 *
Refer to Attention statement (Note 12). * Indicates User Supplied Component

Publication 2094-IN001H-EN-P — July 2006

 Kinetix 6000
Common Bus Follower IAM
Bonded Cabinet 2094-ACxx-Mxx or -BCxx-Mxx
Ground Bus*

Kinetix 6000 Power Rail

Ground Stud Note 9
Common Bus Leader IAM
2094-ACxx-Mxx or -BCxx-Mxx Cable Shield
Bonded Cabinet Clamp
Ground Bus*
Power Rail 1
Ground Stud Note 9 CTRL 2 Control Power
2 (CPD) Connector
Cable Shield CTRL 1 4
Three-phase
Clamp 3
1 Motor Power W Motor Power
DC- (MP) Connector 2 Connections
Single-phase Input 1 2 DC Bus V
CTRL 2 Control Power DC+ 1 Note 15
95...264V ac RMS 2 3 and U
(CPD) Connector
Notes 1, 2 CTRL 1 4 Three-phase
Three-phase 4
3 N.C. L3 Input (IPD)
1 Motor Power W Motor Power 5 Connector
DC- Connections N.C. L2
(MP) Connector 2 6 6
2 DC Bus V Note 15 N.C.
DC+ 1 L1 MBRK -
3 and U 5
Three-phase MBRK +
Three-phase Input from LIM 4 Input (IPD) 4
L3 COM
or Input Power Contactor (M1) 5 Connector Motor/Resistive
195...264V ac RMS L2 3
6 6 Brake (BC) Connector PWR
or 324...528V ac RMS L1 MBRK - 2
Notes 1, 2, 7, 8 5 DBRK -
MBRK + 1
4 DBRK +
COM
Motor/Resistive 3 1
Brake (BC) Connector PWR CONT EN- Contactor Enable
2 2 (CED) Connector
DBRK - CONT EN+
1 Note 13
DBRK +

1
CONT EN- Contactor Enable * Indicates User Supplied Component
2 (CED) Connector
CONT EN+
DC Common Bus Wiring Examples

Note 13
Leader IAM Wiring Example with Single Follower IAM

Wire the leader and follower IAM

contactor enable terminals in series
with the safety control string or LIM I/O.
Kinetix 6000 Multi-axis Servo Drive

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41
42 Kinetix 6000 Multi-axis Servo Drive

Leader IAM Wiring Example with Multiple Follower IAM

To Follower
DC Bus Connections

To Follower
Control Power
Connections

Kinetix 6000
Common Bus Leader IAM
2094-ACxx-Mxx or -BCxx-Mxx
Bonded Cabinet
Ground Bus *
Power Rail
Ground Stud Note 9
Cable Shield
Clamp

Single-phase Input 1
CTRL 2 Control Power
95...264V ac RMS 2 (CPD) Connector
Notes 1, 2 CTRL 1 4
Note 4 Three-phase
3
1 Motor Power W Motor Power
DC- 2
2 (MP) Connector V Connections
DC+ DC Bus 1 Note 15
3 and U
4 Three-phase
Three-phase Input from LIM L3 Input (IPD)
or Input Power Contactor (M1) 5 Connector
195...264V ac RMS L2
6 6
or 324...528V ac RMS L1 MBRK -
Notes 1, 2, 7, 8 5
MBRK +
4
COM
Motor/Resistive 3
Brake (BC) Connector PWR
2
DBRK -
1
DBRK +

1
CONT EN- Contactor Enable
2 (CED) Connector
CONT EN+
Note 13

To Follower
Control Circuit
Connections
Wire the leader and follower IAM
contactor enable terminals in series
with the safety control string or LIM I/O.

Publication 2094-IN001H-EN-P — July 2006

 Kinetix 6000 Multi-axis Servo Drive 43

Kinetix 6000
Common Bus Follower IAM
2094-ACxx-Mxx or -BCxx-Mxx
Bonded Cabinet
Ground Bus *
Power Rail
Ground Stud Note 9
Cable Shield
Clamp
Note 4
From Leader 1
CTRL 2 Control Power
Control Power 2 (CPD) Connector
Connections CTRL 1 4
Note 4 Three-phase
3
From Leader 1 Motor Power W Motor Power
DC- 2 Connections
DC Bus Connections 2 (MP) Connector V
DC+ DC Bus 1 Note 15
3 and U
DC Bus Fusing * 4 Three-phase
Note 2 N.C. L3 Input (IPD)
5 Connector
N.C. L2
6 6
N.C. L1 MBRK -
5
MBRK +
4
COM
Motor/Resistive 3
Brake (BC) Connector PWR
2
DBRK -
1
DBRK +

1 Contactor Enable
CONT EN-
2 (CED) Connector
CONT EN+
Note 13

Kinetix 6000
Common Bus Follower IAM
2094-ACxx-Mxx or -BCxx-Mxx
Bonded Cabinet
Ground Bus *
Power Rail
Ground Stud Note 9
Cable Shield
Clamp

1
CTRL 2 Control Power
2 (CPD) Connector
CTRL 1 4
3 Three-phase
1 Motor Power W Motor Power
DC- 2
2 (MP) Connector V Connections
DC+ DC Bus 1 Note 15
3 and U
DC Bus Fusing * 4 Three-phase
Note 2 N.C. L3 Input (IPD)
5 Connector
N.C. L2
6 6
N.C. L1 MBRK -
5
MBRK +
4
COM
Motor/Resistive 3
Brake (BC) Connector PWR
2
DBRK -
1
DBRK +
From Leader
Control Circuit 1
CONT EN- Contactor Enable
Connections 2 (CED) Connector
CONT EN+
Note 13

* Indicates User Supplied Component

Publication 2094-IN001H-EN-P — July 2006

 44
Three-phase Input (+10/-15%)
380V ac rms, 50 Hz
or 460V ac rms, 60 Hz
Notes 1, 2
Kinetix 6000
Common Bus Follower IAM
Input Fusing *
Bonded Cabinet Bonded Cabinet 2094-BCxx-Mxx
Ground Bus * Ground Bus*
8720MC
Three-phase Power Rail
AC Line Filter Regenerative Ground Stud Note 9
Note 3 Power Supply Cable Shield
Harmonic 8720MC-RPSxxx Clamp
Filter
E/N
R S T Single-phase Input 1
TB1 CTRL 2 Control Power
G 95...264V ac RMS 2 (CPD) Connector
Kinetix 6000 Multi-axis Servo Drive

Notes 1, 2 CTRL 1 4
R Three-phase
L1 TB1 3

Publication 2094-IN001H-EN-P — July 2006

S N 1 Motor Power W Motor Power
L2 DC- DC- (MP) Connector 2 Connections
T P 2 DC Bus V Note 15
L3 DC+ DC+ 1
3 and U
M1 * Line Three-phase
Varistor Reactors 4 Input (IPD)
Note 7 N.C. L3
5 Connector
N.C. L2
Motor Fan Fusing * 6
N.C. L1

To Motor Fan TB3

1
COM +24V_PWR
TB2 2 I/O (IOD)
R1 RDY ENABLE Connector
L1 AUX
S1 Motion Control I/O 3 +24V_COM
L2 AUX
T1
L3 AUX
PR1 1 Contactor Enable
CONT EN-
PR2 2 (CED) Connector
Note 11 CONT EN+
Note 13
PR3
Customer
MC1 +24V dc 6
Supplied MBRK -
* Indicates User Supplied Component 120V ac MC MC2 PWR 5
MBRK +
4
Motor/Resistive COM
3
Brake (BC) Connector PWR
2
DBRK -
Note 13 Start * 1
DBRK +
Stop *
CR1*

Refer to Attention statement (Note 12).

CR1*

IMPORTANT Use a pushbutton circuit (instead of an SPST toggle switch) in series with the contactor enable string (between the
8720MC-RPS Leader Drive Wiring Example with Single Follower IAM

8720MC-RPS and Kinetix 6000 drive) to allow a drive fault to remove the dc bus power, and to prevent the drive from
applying dc bus power without your input after clearing a drive fault.
 Kinetix 6000 Multi-axis Servo Drive 45

Shunt Module Wiring Examples

Shunt Module Wired for Internal Operation (default configuration)

Kinetix 6000
Shunt Module
2094-BSP2

3
External Shunt Resistor COL
2
(RC) Connector INT
1
DC+
2
External Thermal Switch TS2 1
(TS) Connector TS1

Shunt Module Wiring Example with External Passive Shunt

Kinetix 6000 External Passive

Shunt Module Shunt Module
2094-BSP2

3
External Shunt Resistor COL COL
2
(RC) Connector INT Resistor
1 DC+
DC+

External Thermal Switch TS2 2 Thermal

(TS) Connector 1 Switch
TS1

Refer to the Kinetix Motion Control Selection Guide, publication

GMC-SG001, for a list of external shunt module catalog numbers
available for the Kinetix 6000 drive.

IMPORTANT Only passive shunts with a thermal switch are wired to the TS
connector on the Kinetix 6000 shunt module. If your external
passive shunt does not have a thermal switch, leave the jumper
(default configuration) in place on the TS connector.

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46 Kinetix 6000 Multi-axis Servo Drive

Refer to the Kinetix Motion Control Selection Guide, publication

GMC-SG001, for a list of external active shunt module catalog
numbers available for the Kinetix 6000 drives.

IAM Wiring Example with Single External Active Shunt

Kinetix 6000 External Active

Integrated Axis Module Shunt Module (1336-MOD-Kxxxx)
2094-xCxx-Mxx
1 (+) Slave In
2 (–) Slave In
3 (–) Master Out
4 TB1
(+) Master Out
DC Bus DC- 1 5
(–) DC Bus
Connections 2 6
DC+ (+) DC Bus
3 Input Fusing*
Note 22
Three-phase L3 4 1
Single-phase Input
Input (IPD) 5 115V ac RMS 2
L2
Connections 6 50/60 Hz TB3
L1 3
4 Fault Relay Note 23
Shunt chassis 1336 Master
ground screw

Contactor Enable 1
CONT EN- Refer to Attention statement (Note 12).
(CED) Connector 2
CONT EN+ CR1*
Note 13
CR1*
M1* 24V ac/dc
or
CR1* 120V ac
50/60 Hz
* Indicates User Supplied Component START* STOP*

Notes 7, 13

1336 Active Shunt Input Fuse Specifications

Input Current
Active Shunt Module Description Requirements

1336-Kx005 or Kx010 Input current requirement to power logic for fault 0.05 A
contact operation.
Input current requirement to power fan and logic for
1336-KB050 fault contact operation. 0.65 A

1336 Active Shunt Fault Relay Specifications

Parameter Description 120V ac 30V ac

On State Current Current flow when the contact is closed 0.6 A 2.0 A
On State Resistance Contact resistance (max) 50 m Ω 50 m Ω
Off State Voltage Voltage across the contacts when the relay is open 120V ac 30V ac

Publication 2094-IN001H-EN-P — July 2006

 Kinetix 6000 Multi-axis Servo Drive 47

IAM Wiring Example with Multiple External Active Shunts

Kinetix 6000 External Active

Integrated Axis Module Shunt Module (1336-MOD-Kxxxx)
2094-xCxx-Mxx
1
(+) Slave In
2
(–) Slave In
3
(–) Master Out
4
Note 4 (+) Master Out
DC Bus DC- 1 5
(–) DC Bus
Connections 2 6 TB1
DC+ (+) DC Bus
3
Three-phase 4 1
L3 TB3
Input (IPD) 5 2
Connections L2
6 3
L1
Fault Relay Note 23
4
Shunt Chassis 1336 Master
Ground Screw

1
Contactor Enable CONT EN- External Active
(CED) Connector 2
CONT EN+ Shunt Module (1336-MOD-Kxxxx)
Note 13
1
(+) Slave In
Notes 7, 13 2
(–) Slave In
3
STOP* START* (–) Master Out
24V ac/dc CR1* 4
or (+) Master Out
120V ac 5
M1* (–) DC Bus
50/60 Hz CR1* TB1
CR1* 6
(+) DC Bus
Note 4
Refer to Attention statement (Note 12).
1
TB3
2
3
Fault Relay Note 23
4
Shunt Chassis 1336 Slave
Ground Screw

External Active
Shunt Module (1336-MOD-Kxxxx)
1
(+) Slave In
2
(–) Slave In
3
(–) Master Out
4
(+) Master Out
5
(–) DC Bus
6 TB1
(+) DC Bus

Single-phase Input 1
115V ac RMS TB3
2
50/60 Hz
Note 4 3
Input Fusing* Fault Relay Note 23
Note 22 4
Shunt Chassis 1336 Slave
Ground Screw
* Indicates User Supplied Component

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48 Kinetix 6000 Multi-axis Servo Drive

Axis Module/Motor Wiring Examples

AM (460V) Wiring Example with MP-Series (MPL-B and MPG-B) Motors

Kinetix 6000 MPL-B3xx, -B4xx, -B45xx,

IAM (inverter) or AM -B5xx, -B6xx, -B8xx,
Note 14 -B9xx, and MPG-B
(460V) Servo Motors with Motor Feedback
Cable Shield High Resolution Feedback (MF) Connector
0 Clamp (IAM/AM)
Note 9
1
4 Green/Yellow D A BLACK SIN+ 1
2
3 3 1/Blue C W B WHT/BLACK SIN- 2
Motor Power W GND
4 (MP) Connector 2 2/Black B V C RED COS+ 3
V Three-phase
5 1 U Motor Power D WHT/RED COS- 4
U
3/Brown A
6 Motor Feedback E GREEN DATA+ 5
2090-XXNPMP-xxSxx
7 (MF) Connector Motor Power Cable F WHT/GREEN DATA- 10
8 Note 15 Motor Feedback K GRAY +5VDC 14
9
L WHT/GRAY ECOM 6
10
11 Motor/Resistive 2090-UXNBMP-18Sxx Brake Cable N ORANGE +9VDC 7
12 Brake (BC) Connector Note 15 R WHT/ORANGE TS+ 11
13 6 Black C BR-
MBRK - TS-
14 S BLUE
5 White A BR+
15 MBRK + Thermostat
4 P COM
COM User Supplied Motor Brake
3 Refer to low profile connector
PWR 24V dc (1.2A max.) illustration (lower left)
2 BR- for proper grounding technique.
DBRK - Resistive Brake
1 BR+ Connections 2090-XXNFMP-Sxx
DBRK +
(flying-lead) Feedback Cable
Notes 15, 16, 18

MPL-B3xx, -B4xx, -B45xx,

(460V) Servo Motors
with Resolver Feedback
Motor Feedback
(MF) Connector
D (IAM/AM)
Grounding Technique for C W GND
Feedback Cable Shield A BLACK S2 1
Low Profile Connector B V Three-phase B WHT/BLACK S4 2
(2090-K6CK-D15M shown) A U Motor Power C RED S1 3
D WHT/RED S3 4
Motor Feedback G YELLOW R1 5
H WHT/YELLOW R2 10
Clamp R BLUE TS+ 11
Exposed shield secured
under clamp.
Thermostat
S WHT/BLUE TS- 6
Clamp Screws (2)
Refer to low profile connector
Turn clamp over to hold
C BR- illustration (lower left)
small cables secure.
for proper grounding technique.
A BR+ Motor Brake
2090-CDNFDMP-Sxx
(flying-lead) Feedback Cable
Notes 15, 16

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 Kinetix 6000 Multi-axis Servo Drive 49

AM (230V) Wiring Example with MP-Series (MPL-A and MPG-A) Motors

Kinetix 6000 MPL-A3xx, -A4xx, -A45xx,

IAM (inverter) or AM -A5xx, and MPG-Axxx
Note 14 (230V) Servo Motors with
High Resolution Feedback Motor Feedback
Cable Shield (MF) Connector
Clamp (IAM/AM)
0 Note 9
1 1
4 Green/Yellow D A BLACK SIN+
2 WHT/BLACK 2
3 1/Blue C W B SIN-
3 Motor Power W GND
4 2 2/Black B V C RED COS+ 3
(MP) Connector V
5 Three-phase D WHT/RED COS- 4
1 3/Brown A U
6 U Motor Power E GREEN DATA+ 5
7 2090-XXNPMP-xxSxx
Motor Feedback Motor Power Cable F WHT/GREEN DATA- 10
8 (MF) Connector Note 15 K +5VDC 14
Motor Feedback GRAY
9 L WHT/GRAY ECOM 6
10
Motor/Resistive N ORANGE +9VDC 7
11 2090-UXNBMP-18Sxx Brake Cable
12 Brake (BC) Connector Note 15 R WHT/ORANGE TS+ 11
13 6 Black C BR-
MBRK - S BLUE TS-
14 5 White A BR+
15 MBRK + Thermostat
4 P COM
COM User Supplied Motor Brake
3 24V dc (1.2A max.) Refer to low profile connector
PWR illustration (lower left)
2 BR- for proper grounding technique.
DBRK - Resistive Brake
1 BR+ Connections 2090-XXNFMP-Sxx
DBRK + (flying-lead) Feedback Cable
Notes 15, 16, 19

MPL-A3xx, -A4xx, -A45xx,

and -A5xx
(230V) Servo Motors with Motor Feedback
Incremental Feedback (MF) Connector
(IAM/AM)

D A BLACK AM+ 1
B WHT/BLACK AM- 2
Grounding Technique for C W GND
Feedback Cable Shield B V C RED BM+ 3
Low Profile Connector Three-phase D WHT/RED BM- 4
(2090-K6CK-D15M shown) A U Motor Power
E GREEN IM+ 5
F WHT/GREEN IM- 10
Motor Feedback K GRAY +5VDC 14
L WHT/GRAY ECOM 6
Clamp N ORANGE – 7
Exposed shield secured R WHT/ORANGE TS+ 11
under clamp.
Thermostat
Clamp Screws (2) S BLUE TS-
Turn clamp over to hold C BR- T WHT/BLUE S1 12
small cables secure.
Motor Brake U YELLOW S2 13
A BR+ V WHT/YELLOW S3 8
P COM
Refer to low profile connector
illustration (lower left)
for proper grounding technique.

2090-XXNFMP-Sxx
(flying-lead) Feedback Cable
Notes 15, 16

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50 Kinetix 6000 Multi-axis Servo Drive

AM Wiring Example with MP-Series (MPL-A/B, MPF-A/B, and MPS-A/B) Motors

Kinetix 6000 MPL-A/B15xx and -A/B2xx,

IAM (inverter) or AM MPF-A/Bxxx and MPS-A/Bxxx
Note 14 Servo Motors with Motor Feedback
High Resolution Feedback (MF) Connector
Cable Shield (IAM/AM)
Clamp
0 Shield
1 1
Note 9 BLACK SIN+
1
4 Green/Yellow D/ 2 WHT/BLACK SIN- 2
2
3 3 Blue C/W W GND 3 RED COS+ 3
Motor Power W
4 2 Black B/V V Three-phase 4 WHT/RED COS- 4
(MP) Connector V
5 1 Brown A/U U Motor Power 5 GREEN DATA+ 5
6 U 6 WHT/GREEN DATA- 10
7 2090-XXNPMF-xxSxx
Motor Feedback Motor Power Cable Motor 9 GRAY +5VDC 14
8 (MF) Connector Note 15 Feedback 10 WHT/GRAY ECOM 6
9
10 11 ORANGE +9VDC 7
11 Motor/Resistive 13 WHT/ORANGE TS+ 11
12 Brake (BC) Connector
14 BLUE TS-
13 6 Black G/- BR-
MBRK -
14 5 White F/+ Thermostat
MBRK + BR+ COM
15 12
4 Refer to low profile connector
COM User Supplied
3 Motor Brake illustration (lower left)
PWR 24V dc (1.2A max.) Note 21 for proper grounding technique.
2 BR-
DBRK - Resistive Brake
2090-XXNFMF-Sxx
1 (flying-lead) Feedback Cable
BR+ Connections
DBRK + Notes 15, 16, 20

MPL-A/B15xx and -A/B2xx

Servo Motors with
Incremental Feedback Motor Feedback
(MF) Connector
(IAM/AM)
1 BLACK AM+ 1
D/ 2 WHT/BLACK AM- 2
Grounding Technique for
C/W W GND 3 RED BM+ 3
Feedback Cable Shield
Low Profile Connector B/V V 4 WHT/RED BM- 4
(2090-K6CK-D15M shown) Three-phase
A/U U Motor Power 5 GREEN IM+ 5
6 WHT/GREEN IM- 10
Motor 9 GRAY +5VDC 14
Feedback ECOM 6
10 WHT/GRAY

Clamp 11 ORANGE –
Exposed shield secured 13 WHT/ORANGE TS+ 11
under clamp. Thermostat
Clamp Screws (2) G/- BR- 14 BLUE TS-
Turn clamp over to hold 15 WHT/BLUE S1 12
small cables secure. F/+ BR+
16 YELLOW S2 13
Motor Brake 17 WHT/YELLOW S3 8
Note 21
12 COM
Refer to low profile connector
illustration (lower left)
for proper grounding technique.

2090-XXNFMF-Sxx
(flying-lead) Feedback Cable
Notes 15, 16

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AM (230V) Wiring Example with TL-Series Motors

Kinetix 6000 TL-Series (230V) Servo Motors

IAM (inverter) or AM with Incremental Feedback
Note 14
Motor Feedback
Cable Shield (MF) Connector
0 Clamp (IAM/AM)
Note 9
1 1 1
4 Green/Yellow 4 BLACK AM+
2 2
3 Blue W 2 WHT/BLACK AM-
3 W 3 GND
Motor Power 3 RED BM+ 3
4 (MP) Connector 2 Black 2 V
V Three-phase 4 WHT/RED BM- 4
5 1 Brown 1 U Motor Power
6 U 5 GREEN IM+ 5
2090-XXNPT-16Sxx
7 Motor Feedback Motor Power Cable 10 WHT/GREEN IM- 10
8 (MF) Connector Note 15 7 GRAY +5VDC 14
9 Motor Feedback 8 WHT/GRAY ECOM 6
10 2090-DANBT-18Sxx
Motor/Resistive BLUE
11 Motor Brake Cable
Brake (BC) Connector Note 15 6 WHT/BLUE S1 12
12
13 6 Black 11 YELLOW S2 13
MBRK - 2 BR-
14 15 WHT/YELLOW S3 8
5 White
Motor Brake
15 MBRK + 1 BR+ 9 GREEN
4 SHIELD
COM User Supplied
3 24V dc (1.2A max.)
PWR
2090-XXNFT-Sxx Feedback Cable
2 BR-
DBRK - Resistive Brake with pre-molded connector
1 Note 15
BR+ Connections
DBRK +

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52 Kinetix 6000 Multi-axis Servo Drive

AM (460V) Wiring Example with 1326AB Motors

Kinetix 6000 1326AB (M2L/S2L)

IAM (inverter) or AM Servo Motors with
Note 14 High Resolution Feedback
Motor Feedback
Cable Shield (MF) Connector
0 Clamp (IAM/AM)
Note 9
1
4 Green/Yellow D A BLACK SIN+ 1
2
3 1/Blue C W B WHT/BLACK SIN- 2
3 Motor Power W GND
4 (MP) Connector 2 2/Black B V C RED COS+ 3
V Three-phase WHT/RED COS- 4
5 1 U D
U
3/Brown A Motor Power
6 E GREEN DATA+ 5
2090-XXNPMP-xxSxx
7 Motor Feedback Motor Power Cable F WHT/GREEN DATA- 10
8 (MF) Connector Note 15 Motor Feedback – 14
K GRAY
9 ECOM
L WHT/GRAY 6
10
11 Motor/Resistive 2090-UXNBMP-18Sxx Brake Cable N ORANGE +9VDC– 7
12 Brake (BC) Connector Note 15 R WHT/ORANGE TS+ 11
13 6 Black C BR-
MBRK - S BLUE TS-
14 5 White A BR+
15 MBRK + Thermostat
4 P COM
COM User Supplied Motor Brake
3 24V dc (1.2A max.) Refer to the Kinetix 6000 User Manual,
PWR publication 2094-UM001,
2 BR- for proper grounding technique.
DBRK - Resistive Brake
1 BR+ Connections 2090-XXNFMP-Sxx
DBRK + (flying-lead) Feedback Cable
Note 15, 16

Kinetix 6000 1326AB Servo Motors with

IAM (inverter) or AM Resolver Feedback
Note 14 1326-CPx1-xxx Motor Power Cable
Note 15
Cable Shield
Clamp Green/Yellow 8
0 Note 9
1 4 Braided Shield 7
2 3 Black 3 T3 GND
Motor Power W
3 2 Black 2 T2
4 (MP) Connector V Three-phase
1 Black 1 T1 Motor Power
5 Motor Feedback U Motor Feedback
6 (MF) Connector (MF) Connector
7 (IAM/AM)
8 6 Black 6 B1
MBRK - G GREEN S2 1
9 5 4 B2 Motor Brake
Black H BLACK 2
10 MBRK + S4
11 4 D BLACK S1 3
COM User Supplied
12 3 E RED S3 4
13 PWR 24V dc (1.2A max.) Motor Feedback
2 A BLACK R1 5
14 BR-
DBRK - Resistive Brake B WHITE R2 10
15 1 BR+
DBRK + Connections
5 K1 1326-CCU-xxx
(flying-lead) Feedback Cable
Motor/Resistive (1) Note 15
9 K2 Thermostat TS+ 16
Brake (BC) Connector TS- 17
S
Shielded Cable

(1)
Wiring the thermal switch on 1326AB (resolver-based) motors requires the use of the Low Profile connector kit
(2090-K6CK-D15MF) and wire extension to the power connector. Pins 16, 17, and S are filtered to prevent noise
transmission back to the drive. Refer to the Kinetix 6000 User Manual, publication 2094-UM001, for wiring
instructions and a diagram.

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 Kinetix 6000 Multi-axis Servo Drive 53

AM (230V) Wiring Example with H/F-Series Motors

Kinetix 6000 H/F-Series (230V)

IAM (inverter) or AM Servo Motors with
Note 14 Incremental Feedback

Cable Shield
0 Clamp
Note 9
1
4 Green/Yellow D
2
3 1/Blue C W Motor Feedback
3 Motor Power W GND
(MF) Connector
4 (MP) Connector 2 2/Black B V
V Three-phase (IAM/AM)
5 1 3/Brown A U Motor Power
6 U A BLACK AM+ 1
2090-XXNPH/HF-xxSxx
7 Motor Power Cable B WHT/BLACK AM- 2
8 Motor Feedback Note 15
C RED BM+ 3
9 (MF) Connector
D WHT/RED BM- 4
10
11 9101-0330 Brake Cable Connector Kit E GREEN IM+ 5
Motor Feedback
12 Note 15 F WHT/GREEN IM- 10
13 6 Black B BR- R WHT/BROWN TS+ 11
MBRK -
14 5 White A Motor Brake P BROWN S3 8
BR+
15 MBRK +
K
4 GRAY +5VDC 14
COM User Supplied J
3 24V dc (1.2A max.) L
PWR WHT/GRAY ECOM 6
2 BR- M
DBRK - Resistive Brake
1 BR+ N BLUE S2 13
DBRK + Connections
T WHT/BLUE S1 12
Motor/Resistive H VIOLET –
Brake (BC) Connector Thermostat
S WHT/VIOLET TS- 6
Refer to low profile connector
illustration (below)
for proper grounding technique.

2090-XXNFHF-Sxx
(flying-lead) Feedback Cable
Note 15, 16

Grounding Technique for

Feedback Cable Shield
Low Profile Connector
(2090-K6CK-D15M shown)

Clamp
Exposed shield secured
under clamp.
Clamp Screws (2)
Turn clamp over to hold
small cables secure.

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54 Kinetix 6000 Multi-axis Servo Drive

AM (230V) Wiring Example with N-Series Motors

Kinetix 6000 N-Series (230V)

IAM (inverter) or AM Servo Motors with
Note 14 Incremental Feedback

Cable Shield
0 Clamp
Note 9 E N/C
1
4 Green/Yellow D
2
3 1/Blue C W Motor Feedback
3 Motor Power W GND
(MF) Connector
4 (MP) Connector 2 2/Black B V
V Three-phase (IAM/AM)
5 1 3/Brown A U Motor Power
6 U A BLACK AM+ 1
2090-XXNPN-xxSxx
7 Motor Power Cable B WHT/BLACK AM- 2
8 Motor Feedback Note 15
C RED BM+ 3
9 (MF) Connector
D WHT/RED BM- 4
10
11 9101-1698 Brake Cable Connector Kit E GREEN IM+ 5
Motor Feedback
12 Note 15 F WHT/GREEN IM- 10
13 6 Black B BR- R WHT/BROWN TS+ 11
MBRK -
14 5 White A Motor Brake V BROWN S3 8
BR+
15 MBRK +
K
4 GRAY +5VDC 14
COM User Supplied C N/C J
3 24V dc (1.2A max.) L
PWR WHT/GRAY ECOM 6
2 BR- M
DBRK - Resistive Brake
1 BR+ U BLUE S2 13
DBRK + Connections
T WHT/BLUE S1 12
Motor/Resistive H VIOLET –
Brake (BC) Connector Thermostat
S WHT/VIOLET TS- 6
Refer to low profile connector
illustration (below)
for proper grounding technique.

2090-XXNFN-Sxx
(flying-lead) Feedback Cable
Note 15, 16

Grounding Technique for

Feedback Cable Shield
Low Profile Connector
(2090-K6CK-D15M shown)

Clamp
Exposed shield secured
under clamp.
Clamp Screws (2)
Turn clamp over to hold
small cables secure.

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 Kinetix 6000 Multi-axis Servo Drive 55

AM (230V) Wiring Example with Y-Series Motors

Kinetix 6000 Y-Series (230V)

IAM (inverter) or AM Servo Motors with
Note 14 Incremental Feedback

Cable Shield
0 Clamp
Note 9
1 4 Green/Yellow 5
2 Motor Feedback
3 3/Black 3 W GND
3 Motor Power W (MF) Connector
4 (MP) Connector 2 2/Black 2 V (IAM/AM)
V Three-phase
5 1 1/Black 1 U Motor Power
6 U 9 BLACK AM+ 1
7 Motor Feedback 10 WHT/BLACK AM- 2
8 (MF) Connector Pigtail
2090-XXNPY-xxSxx 11 RED BM+ 3
9 Motor Power and Brake Cable Motor 12 WHT/RED BM- 4
Note 15
10 Feedback
13 GREEN IM+ 5
11
14 WHT/GREEN IM- 10
12 Pigtail
Black 9 BR- 15 WHT/BLUE S1 12
13 Motor
14 Motor/Resistive 7 17 BLUE S2 13
Black BR+ Brake
15 Brake (BC) Connector 8
19 BROWN S3
6 – WHT/BROWN –
MBRK -
5 22 GRAY +5VDC 14
MBRK +
4 23 WHT/GRAY ECOM 6
COM User Supplied 24 DRAIN
3 24V dc (1.2A max.)
PWR
2 Refer to low profile connector
BR- illustration (below)
DBRK - Resistive Brake
1 for proper grounding technique.
BR+ Connections
DBRK +
2090-XXNFY-Sxx
(flying-lead) Feedback Cable
Notes 15, 16, 17

Grounding Technique for

Feedback Cable Shield
Low Profile Connector
(2090-K6CK-D15M shown)

Clamp
Exposed shield and drain wire
secured under clamp.
Clamp Screws (2)
Turn clamp over to hold
small cables secure.

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56 Kinetix 6000 Multi-axis Servo Drive

Controlling a Brake Example

The relay output of the Kinetix 6000 drive (MBRK± BC-5 and -6) is
suitable for directly controlling a motor brake, subject to the relay
voltage limit of 30V dc, and the relay current limit as shown in the
table below.

Brake Relay Current Limit

Kinetix 6000 IAM/AM Brake Current Rating, Max

2094-AC05-Mxx, -AC09-Mxx,
2094-AMP5, -AM01, -AM02
1.0 A
2094-BC01-Mxx, -BC02-Mxx,
2094-BMP5, -BM01, -BM02
2094-AC16-Mxx, -AC32-Mxx,
2094-AM03, -AM05 1.3 A

2094-BC04-Mxx, -BC07-Mxx,
2094-BM03, -BM05 3.0 A

IMPORTANT For brake requirements outside of these limits, an external relay

must be used.

Coil Currents Rated at < 1.0 A

Compatible Brake Motors Coil Current Compatible Brake Motors Coil Current
(1)
F-4030, -4050, and -4075 0.69 A MPL/MPF/MPS-x310, -x320, -x330 0.50 A
H-3007 and -3016 0.60 A MPL-x420, -x430, -x4520, -x4530, -x4540 (1)
0.64 A
H-4030, -4050, and -4075 0.69 A MPF-x430, -x4530, -x4540 (1)
N-2302, and -2304 0.28 A MPG-x004 (1) 0.33 A
N-3406, -3412, -4214, and -4220 0.36 A MPG-x010 (1)
0.45 A
N-5630, -5637, and -5647 0.71 A MPG-x025 (1)
Y-1002 and -1003 0.26 A MPG-x050 (1) 0.50 A
Y-2006 and -2012 0.31 A MPG-x110 (1) 1.0 A
Y-3023 0.37 A
TL-A110P-H, -A120P-H, and -A130P-H 0.208 A
TL-A220P-H and -A230P-H 0.375 A 1326AB-B4xxx 0.88 A
TL-A2530P-H and -A2540P-H 0.396 A
TL-A410P-H 0.746 A
(1)
Applies to 230V and 460V motors.

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Coil Currents Rated at >1.0 A and ≤1.3 A

Compatible Brake Motors Coil Current Compatible Brake Motors Coil Current
F-6100, -6200, and -6300 1.30 A MPL-x520, -x540, -x560, -x580 (1)
1.05...1.28 A
MPF-B540
H-6100, -6200, and -6300 1.13 A
1326AB-B5xxx, and -B7xxx 1.20 A
(1)
Applies to 230V and 460V motors.

Coil Currents Rated at >1.3 A and ≤3.0 A

Compatible Brake Motors Coil Current Compatible Brake Motors Coil Current

H-8350 and -8500 2.20 A MPL-B640, -B660, -B680, -B860, -B880, 1.91...2.19 A
-B960, -B980

IMPORTANT The relay output of the Kinetix 6000 drive (MBRK± BC-5 and -6)
includes an arc suppression device. An additional diode or MOV
for arc suppression is not required.

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58 Kinetix 6000 Multi-axis Servo Drive

Configure the IAM/AM Follow these steps to configure the IAM/AM.

1. Verify that there is no power applied to the IAM/AM and that the
SERCOS fiber-optic cables are plugged into the Tx and Rx
connectors.
To verify your fiber-optic cable connections, refer to the Kinetix
6000 User Manual, publication 2094-UM001.
To Configure Begin With
The integrated axis module (IAM) Step 2
An axis module (AM) Step 3

2. Set the base node address for the IAM by setting the SERCOS
Node Address switch. Valid node addresses are 01...99. The left
hand switch sets the most significant digit (MSD) and the right
hand switch sets the least significant digit (LSD).
Refer to the table and figure below for switch operation.
To Press
Increment the (MSD/LSD) node address The plus (+) switch.
Decrement the (MSD/LSD) node address The minus (-) switch.

Decrements MSD Decrements LSD

MSD LSD

Increments MSD Increments LSD

Setting the base node address on the IAM determines the node
address for the IAM inverter. Node addressing for all slot locations
on the same power rail increment (from the IAM inverter) left to
right.

IMPORTANT After setting the base node address, always cycle control
power to initialize the IAM.

IMPORTANT When two or more IAMs are connected to the same

SERCOS interface module, each node address must be
unique.
Refer to the node addressing examples on pages 59 and
60.

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 Kinetix 6000 Multi-axis Servo Drive 59

Node Addressing Example 1

1756-MxxSE SERCOS
interface Module
SERCOS interfaceTM

CP OK

ControlLogix Chassis

Tx (rear)

Rx (front)

Transmit Receive

SERCOS Fiber-Optic Ring

Receive Transmit

Kinetix 6000
Receive System 2
Transmit
(2-axis power rail)
Kinetix 6000
System 1
(6-axis power rail)
17 = AM (axis 2) Node Address
16 = IAM (axis 1) Base Node Address
15 = Slot Filler Node Address
14 = Shunt Module Node Address
13 = AM (axis 4) Node Address
12 = AM (axis 3) Node Address
11 = AM (axis 2) Node Address
10 = IAM (axis 1) Base Node Address

In Example 1, the Kinetix 6000 (6-axis) System 1 power rail

contains one IAM, three AMs, one SM, and one slot filler module.
The shunt module and slot filler modules are assigned a node
address, but they do not use it.
Kinetix 6000 (2-axis) System 2 power rail contains one IAM and
one AM. The base node address of the IAM (system 2) must be set
for an address of ≥16 or ≤8.

IMPORTANT The node address for each axis module is determined by

the base node-address switch setting on the IAM.
Do not position axis modules to the right of shunt or slot
filler modules. The added distance between non-adjacent
axes can increase electrical noise and impedance, and
requires longer fiber-optic cable lengths.

IMPORTANT Slot filler modules must be used to fill any unoccupied slot
on the power rail. However, the slot fillers may also be
removed and replaced by an axis or shunt module in the
future.

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60 Kinetix 6000 Multi-axis Servo Drive

Node Addressing Example 2

1756-MxxSE SERCOS
interface Module
SERCOS interfaceTM

CP OK

ControlLogix Chassis

Tx (rear)

Rx (front)

Transmit Receive

SERCOS Fiber-Optic Ring

Receive Transmit

Kinetix 6000
(8-axis power rail)

08 = Slot Filler Node Address

07 = AM (axis 4) Node Address
06 = Not Used (AM Rightmost Slot)
05 = AM (axis 3) Node Address
04 = Not Used (AM Rightmost Slot)
03 = AM (axis 2) Node Address
02 = Not Used (IAM Rightmost Slot)
01 = IAM (axis 1) Base Node Address

In Example 2, the Kinetix 6000 (8-axis) power rail contains a

double-wide IAM, two double-wide AMs, one single-wide AM,
and one slot filler module. The slot filler module is assigned a
node address, but does not use it.

The leftmost slot of a double-wide module determines the node

address. So, in the example above, node addresses 02, 04, and 06
(the rightmost slots of the double-wide modules) are not used.

IMPORTANT Slot filler modules must be used to fill any unoccupied slot
on the power rail. However, the slot fillers may also be
removed and replaced by an axis or shunt module in the
future.

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3. Set the SERCOS baud rate using DIP switches 2 and 3, as shown in
the figure below.
For This Baud Rate Set Switch 2 Set Switch 3
4 Mbps OFF ON
8 Mbps ON OFF

4. Set the SERCOS optical power level to High using DIP switch 1, as
shown in the figure below.
For This Optical Power Level Set Switch 1
Low OFF
High ON

DIP Switches Set for DIP Switches Set for

Integrated Axis Module, Top View 4 Mbps Applications 8 Mbps Applications
(2094-ACxx-Mxx) (high power setting) (high power setting)
3 2 1 3 2 1
ON ON
OFF OFF

Switch in OFF Position

Note: Switch numbers as seen on the IAM
are upside down in this orientation.

Switch numbers shown above are in ON Position

Switch
SERCOS Baud Rate turned around for clarity.
and Optical Power Switches

5. Repeat Steps 3 and 4 for each 2094-xMxx axis module.

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62 Kinetix 6000 Multi-axis Servo Drive

Configure the Logix This procedure assumes that you have wired your Kinetix 6000 system
and have configured the Kinetix 6000 baud rate and optical power
SERCOS interface Module switches.

IMPORTANT In order for the Kinetix 6000 drive to communicate with the
SERCOS interface module (indicated by the three LED indicators
on the module going solid green), your RSLogix 5000 software
must be revision 11.0 or later.

For greater detail on the RSLogix 5000 software as it applies to

configuring the ControlLogix, CompactLogix, or SoftLogix SERCOS
modules, refer to Additional Resources on page 99.

Configure the Logix Controller

Follow these steps to configure the Logix controller.

1. Apply power to your Logix chassis/personal computer containing

the SERCOS interface module and open your RSLogix 5000
software.

2. From the File menu, choose New.

The New Controller dialog opens.
• Select controller type.
• Select RSLogix 5000 software revision.
• Name the file.
• Select the Logix chassis size.
• Select the Logix processor slot.

3. Click OK.

4. From the Edit menu, choose Controller Properties.

The Controller Properties dialog opens.

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 Kinetix 6000 Multi-axis Servo Drive 63

5. Select the Date and Time tab.

6. Check the box Make this controller the Coordinated System Time
master.

IMPORTANT Only one ControlLogix processor can be assigned as the

Coordinated System Time master.

7. Click OK.

Configure the Logix Module

Follow these steps to configure the Logix module.

1. Right-click on I/O Configuration in the explorer dialog and select

New Module.
The Select Module dialog opens.

2. Expand the Motion category and select 1756-MxxSE, -L60M03SE,

1768-M04SE, or 1784-PM16SE as appropriate for your actual
hardware configuration.

3. Click OK.

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64 Kinetix 6000 Multi-axis Servo Drive

The New Module dialog opens. Your new module appears under
the I/O Configuration folder in the explorer dialog.

• Name the module.

• Select the slot where your module resides (leftmost slot = 0).
• Select an Electronic Keying option (select Disable Keying if
unsure).
• Check the box Open Module Properties.

4. Click OK.
The Module Properties dialog opens.

5. Select the SERCOS Interface tab and reference the table below.

Logix SERCOS Module Number of Axes Data Rate

1756-M03SE or Up to 3
1756-L60M03SE
1756-M08SE Up to 8
4 or 8 Mbps
1756-M16SE or Up to 16
1784-PM16SE
1768-M04SE Up to 4

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 Kinetix 6000 Multi-axis Servo Drive 65

6. Select Data Rate, Cycle Time and Optical Power settings.

• Verify that the Data Rate setting matches DIP switches 2 and 3
(baud rate) as set on the IAM and AMs, or use the Auto Detect
setting.
• Set the Cycle Time according to the table below.
Data Rate Number of Axes Cycle Time
up to 2 0.5 ms
up to 4 1 ms
4 Mbps
up to 8 2 ms
No support for axes 9...16
up to 4 0.5 ms
8 Mbps up to 8 1 ms
up to 16 2 ms

The number of axes/module is limited to the number of axes as

shown in Step 5.
• Verify that the Optical Power setting (high or low) matches
DIP switch 1 as set on the IAM and AMs.
• Transition to Phase default setting is 4 (phase 4). The
Transition to Phase setting will stop the ring in the phase
specified.

7. Click OK.

8. Repeat steps 1...7 for each Logix module.

Configure the Kinetix 6000 Modules

Follow these steps to configure the Kinetix 6000 modules.

1. Right-click the new Logix module you just created and select New
Module.
The Select Module dialog opens.

2. Expand the Drives category and select your 2094-xCxx-Mxx (IAM)

or 2094-xMxx (AM) as appropriate for your actual hardware
configuration.

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66 Kinetix 6000 Multi-axis Servo Drive

3. Click OK. The New Module dialog opens.

• Name the module.
• Set the Node address.
Set the node address in the software to match the node setting on
the drive. Refer to Configure the IAM/AM, Step 2, on page 58.
• Select an Electronic Keying option.
• Check the box Open Module Properties.

4. Click OK.

5. Select the Associated Axes tab.

6. Select the New Axis button.

The New Tag dialog opens.
• Name the axis.
• Select AXIS_SERVO_DRIVE as the Data Type.

7. Click OK.
The axis appears under the Ungrouped Axes folder in the explorer
dialog.

8. Assign your axis to the node address (as shown in the dialog
below).

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 Kinetix 6000 Multi-axis Servo Drive 67

With drive firmware revision 1.80 or later, and RSLogix 5000

software revision 13 or later, it is possible to configure the
auxiliary axis feedback port as a Feedback Only axis. With this
feature, each IAM (inverter) or AM can be configured to appear as
two axes/nodes on the SERCOS ring. The base node is the servo
axis utilizing the motor feedback, and the base node (plus 128) is
a feedback only axis utilizing the auxiliary feedback port (as
shown below).

If an axis is associated to the auxiliary axis node, then the Axis

Configuration on the General tab of the Axis Properties dialog is
set to Feedback Only (as shown below).

9. Select the Power tab.

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10. Select the Bus Regulator Catalog Number or other as appropriate

for your actual hardware configuration.

If your IAM is And your hardware configuration includes this shunt Then select
option
Internal shunts only Internal or <none>
Bulletin 2094 (rail mounted) shunt module 2094-BSP2
Configured as an IAM or
Leader IAM (common bus) (1) Bulletin 1394 passive shunt module (connected to the 1394-SRxxxx
2094-BSP2)
Bulletin 1336 active shunt module Internal or <none>

Configured as a Follower IAM (2) N/A. Shunts are disabled on Follower IAM CommonBus Follow
(1)
Drive will not accept Internal, <none>, 2094-BSP2, or 1394-SRxxxx selection if dc bus voltage is present without having three-phase power applied.
(2) Drive will not accept CommonBus Follow selection if three-phase power is applied.

ATTENTION
To avoid damage to your Bulletin 1394 external shunt
module, verify that the proper 230V or 460V fuse is
installed prior to applying power.
Refer to Circuit Breaker/Fuse Specifications on page 95, for
more information.

IMPORTANT When configured to use the Bulletin 1394 or 2094 shunt

modules, the IAM bus regulator capacity attribute displays
the shunt module or passive shunt module utilization
instead of the IAM internal shunt resistor utilization.

IMPORTANT DC common bus applications must calculate Total Bus

Capacitance and Additional Bus Capacitance and set the
Add Bus Cap parameter (x:x:x599) using DriveExplorer
software.
Refer to the Kinetix 6000 User Manual, publication
2094-UM001, for more information.

11. Click OK.

12. Repeat steps 1...8 for each 2094-xMxx axis module.

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Configure the Motion Group

Follow these steps to configure the motion group.

1. Right-click Motion Groups in the explorer dialog and select New

Motion Group.
The New Tag dialog opens.

2. Name the new motion group.

3. Click OK.
New group appears under the Motion Groups folder.

4. Right-click the new motion group and select Properties.

The Motion Group Properties dialog opens.

5. Select the Axis Assignment tab and move your axes (created
earlier) from Unassigned to Assigned.

6. Select the Attribute tab and edit the default values as appropriate
for your application.

7. Click OK.

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Configure Axis Properties

Follow these steps to configure axis properties.

1. Right-click on an axis in the explorer dialog and select Properties.

The Axis Properties dialog opens.

2. Select the Drive/Motor tab.

• Set the Kinetix 6000 Amplifier (2094-xCxx-Mxx).
• Set the Motor Catalog Number.
• Drive Enable Input Checking, when checked (default), means
a hard drive-enable input signal is required. Uncheck to
remove that requirement.
For amplifier and motor catalog numbers refer to the amplifier and
motor name plate.

3. Select the Motor Feedback tab and verify the Feedback Type
shown is appropriate for your actual hardware configuration.

4. Click OK.

5. Repeat steps 1...4 for each 2094-xMxx axis module.

6. Verify your Logix program and save the file.

IMPORTANT Refer to the Kinetix 6000 User Manual, publication

2094-UM001, to set the motor brake delay times.

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Download the Program

After completing the Logix configuration you must download your

program to the Logix processor.

Apply Power to the This procedure assumes that you have wired and configured your
Kinetix 6000 system (with or without the LIM) and your SERCOS
Kinetix 6000 Drive interface module.

ATTENTION To avoid hazard of electrical shock, complete all mounting and

wiring prior to applying power. Once power is applied,
connector terminals may have voltage present even when not in
use.

Refer to the Line Interface Module Installation Instructions, publication

2094-IN005, when troubleshooting the LIM status indicators, and for
the location of LIM circuit breakers, connectors, and status indicators.

Follow these steps to apply power to the Kinetix 6000 system.

1. Disconnect the load to the motor.

ATTENTION
To avoid personal injury or damage to equipment,
disconnect the load to the motor. Make sure each motor is
free of all linkages when initially applying power to the
system.

2.
If Your Control Power Then
1. Verify that CB1, CB2, and CB3 are in the OFF position.
2. Apply three-phase input power to the LIM VAC Line connector.
Is sourced from a LIM 3. Set CB3 to the ON position.
4. Set CB2 to the ON position.
5. Go to main Step 3.
1. Apply (95...264V ac) control power to the IAM (CPD connector).
Is not sourced from a LIM
2. Go to main Step 3.

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3. Observe the IAM/AM logic power LED.

Seven Segment Fault Status LED

Logic Power LED

If the Logic Power LED is Then

ON Go to Step 4.
1. Check your control power connections.
Not ON
2. Go back to main Step 2.

4.
If Your Three-phase Then
Power
1. Set CB1 to the ON position.
2. Verify the Hardware Enable Input signal (IOD pin 2) for each
Is sourced from a LIM axis is at 0 volts.
Remove the connection between IOD-1 and IOD-2 if one exists.
3. Go to main Step 5.
1. Apply 195...265V ac (230V) or 324...528V ac (460V) input power
to the IAM (IPD connector).
2. Verify the Hardware Enable Input signal (IOD pin 2) for each
Is not sourced from a LIM axis is at 0 volts.
Remove the connection between IOD-1 and IOD-2 if one exists.
3. Go to main Step 5.

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5. Observe the IAM/AM seven segment status LED display.

The seven segment LED will first flash the SERCOS node address,
then cycle through phases until final configuration (phase 4) is
reached.

IAM/AM Seven-Segment Status LED Status Do This

The drive is looking for a closed SERCOS ring. Wait for
Actively cycling (phase 0) phase 1 or take corrective action until you reach phase 1. Check fiber-optic connections.

Displaying a fixed 1 (phase 1) The drive is looking for active nodes. Wait for phase 2 or Check node addressing.
take corrective action until you reach phase 2.
The drive is configuring nodes for communication. Wait for Check program motor and drive
Displaying a fixed 2 (phase 2) phase 3 or take corrective action until you reach phase 3. configuration against installed hardware.
The drive is configuring device specific parameters. Wait for Check motor catalog number against
Displaying a fixed 3 (phase 3) phase 4 or take corrective action until you reach phase 4. selection. (1)
Displaying a fixed 4 (phase 4) The drive is configured and active. Go to Step 6.
Flashing an E followed by two numbers Drive is faulted. Go to Error Codes on page 79.
(1) You can get diagnostic information from the module by highlighting the module name in RSLogix 5000 software. A Pseudo Key Failure often indicates that the motor
selection does not match the motor installed.

6. Observe the three status LEDs on the front of the IAM/AM.

Status LED Condition Status Do This

Off Normal condition Observe the Comm Status LED.
Drive
Steady red Drive is faulted Go to IAM/AM Status Indicators on page 85.
Flashing green Establishing communication with network Wait for steady green.
Comm Steady green Communication is ready Observe the Bus Status LED
Off No ring present Go to IAM/AM Status Indicators on page 85.
1. Verify Hardware Enable Input (IOD-2) is open.
2. Verify MSO instruction is not commanded in RSLogix
Steady green Axis is enabled when status should be disabled 5000 software.
Bus 3. Return to Apply Power to the Kinetix 6000 Drive on
page 71.

Flashing green (1) Bus is up, axis is disabled (normal status) Go to Step 7.
Off DC bus is not present Go to IAM/AM Status Indicators on page 85.
(1)
The follower IAM has a 2.5 second delay after dc bus voltage is applied before the Bus Status LED begins flashing. This provides the common bus leader time to complete
pre-charge.

7. Observe the three SERCOS LEDs on the SERCOS module.

Three SERCOS LEDs Status Do This

Flashing green and red Establishing communication Wait for steady green on all three LEDs.
Steady green Communication ready Go to Test and Tune the Axes.
Not flashing green and red/ Go to the appropriate Logix manual for specific instructions
not steady green SERCOS module is faulted and troubleshooting.

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Test and Tune the Axes This procedure assumes that you have configured your Kinetix 6000
drive, your SERCOS interface module, and applied power to the
system.

IMPORTANT Before proceeding with testing and tuning your axes, verify that
the IAM and AM seven segment and status LEDs are as
described in Step 6 on page 73.

For help using RSLogix 5000 software as it applies to testing and

tuning your axes with ControlLogix, CompactLogix, or SoftLogix
SERCOS modules, refer to Additional Resources on page 99.

Test the Axes

Follow these steps to test the axes.

1. Verify the load was removed from each axis.

2. Right-click an axis in your Motion Group folder in the explorer

dialog and select Axis Properties.
The Axis Properties dialog appears.

3. Select the Hookup tab.

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 Kinetix 6000 Multi-axis Servo Drive 75

4. Select 2.0 as the number of revolutions for the test (or another
number more appropriate for your application).
This Test Performs this Test
Verifies marker detection capability as you rotate the
Test Marker motor shaft.

Test Feedback Verifies feedback connections are wired correctly as

you rotate the motor shaft.
Verifies motor power and feedback connections are
Test Command & Feedback wired correctly as you command the motor to rotate.
Also, lets you define polarity.

5. Apply Hardware Enable Input signal (IOD-2) for the axis you are
testing.

ATTENTION
To avoid personal injury or damage to equipment, apply
24V ENABLE signal (IOD-2) only to the axis you are testing.

6. Select the Test (Marker/Feedback/Command & Feedback) button

to verify connections.
The Online Command dialog opens. Follow the on-screen test
instructions. When the test completes, the Command Status
changes from Executing to Command Complete.

7. Click OK.
The Online Command - Apply Test dialog opens (Feedback and
Command & Feedback tests only). When the test completes, the
Command Status changes from Executing to Command Complete.

8. Click OK.

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If Then
Your test completes successfully, this dialog appears. 1. Click OK.
2. Remove Hardware Enable Input signal (IOD-2).
3. Go to Tune the Axes.

1. Click OK.
Your test failed, this dialog appears.
2. Verify the Bus Status LED turned solid green during
the test.
3. Verify that the Hardware Enable Input signal
(IOD-2) is applied to the axis you are testing.
4. Verify conversion constant entered in the
Conversion tab.
5. Return to main Step 6 and run the test again.

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Tune the Axes

Follow these steps to tune the axes.

1. Verify the load is still removed from the axis being tuned.

ATTENTION To reduce the possibility of unpredictable motor response,

tune your motor with the load removed first, then re-attach
the load and perform the tuning procedure again to provide
an accurate operational response.

2. Select the Tune tab.

3. Enter values for Travel Limit and Speed. In this example, Travel
Limit = 5 and Speed = 10.
Actual value of programmed units depend on your application.

4. Select setting for Direction (Forward Uni-directional is default).

5. Check Tune boxes as appropriate for your application.

6. Apply Hardware Enable Input signal (IOD-2) for the axis you are
tuning.

ATTENTION
To avoid personal injury or damage to equipment, apply
24V ENABLE signal (IOD-2) only to the axis you are tuning.

7. Select the Start Tuning button to auto-tune your axis.

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The Online Command - Tune Servo dialog opens. When the test
completes, the Command Status changes from Executing to
Command Complete.

8. Click OK.
The Tune Bandwidth dialog opens.

Actual bandwidth values (Hz) depend on your application and

may require adjustment once motor and load are connected.

Record your bandwidth data for future reference.

9. Click OK.
The Online Command - Apply Tune dialog opens. When the test
completes, the Command Status changes from Executing to
Command Complete.

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10. Click OK.

If Then
Your test completes successfully, this dialog appears. 1. Click OK.
2. Remove the Hardware Enable Input signal (IOD-2)
applied earlier.
3. Go to Step 11.

Your test failed, this dialog appears. 1. Click OK.

2. Make an adjustment to motor velocity.
3. Refer to appropriate Logix motion module setup
and configuration manual for more information.
4. Return to Step 7 and run the test again.

11. Repeat Test and Tune the Axes for each axis.

Interpret Status Indicators Refer to these troubleshooting tables to identify faults, potential
causes, and the appropriate actions to resolve the fault. If the fault
persists after attempting to troubleshoot the system, please contact
your Rockwell Automation sales representative for further assistance.

Error Codes

The following list of problematic symptoms (no error code shown)

and faults with assigned error codes is designed to help you resolve
anomalies.

When a fault is detected, the seven-segment LED will display an E

followed by the flashing of the two-digit error code, one digit at a
time. This is repeated until the error code is cleared.

Error Fault Message

Code RSLogix (HIM) Problem or Symptom Potential Cause Possible Resolution

Verify ac control power is applied to the

No ac power or auxiliary logic power. Kinetix 6000 system.
Power (PWR) indicator not
ON Call your Rockwell Automation sales
Internal power supply malfunction.
representative to return module for repair.
• Check motor wiring.
Motor jumps when first Motor wiring error. • Run Hookup test in RSLogix 5000
enabled software.
Incorrect motor chosen. Verify the proper motor is selected.

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Error Fault Message

Code RSLogix (HIM) Problem or Symptom Potential Cause Possible Resolution

Digital I/O not working

correctly I/O power supply disconnected. Verify connections and I/O power source.

BusUndervoltage
E00 Fault A blown fuse was detected Blown fuse. Call your Rockwell Automation sales
on the inverter PCB representative to return module for repair.
(Blown fuse)
• Operate within (not above) the
continuous torque rating for the
• High motor ambient temperature ambient temperature
and/or 40 °C (104 °F) maximum.
MotorOvertemp
Motor thermal switch • Excessive current • Lower ambient temperature, increase
E04 Fault
tripped motor cooling.
(Motor Overtemp)
Check motor wiring at MF connector on the
Motor wiring error. IAM/AM.
Incorrect motor selection. Verify the proper motor has been selected.
Verify continuity of motor power cable and
Motor cables shorted. connector.
Disconnect motor power cables from the
Motor winding shorted internally. motor. If the motor is difficult to turn by
hand, it may need to be replaced.
• Check for clogged vents or defective
fan.
Kinetix 6000 temperature too high.
• Make sure cooling is not restricted by
Self-protection of the insufficient space around the unit.
DriveOvercurrent Intelligent Power Module
E05 Fault (IPM) is indicating a major • Verify ambient temperature is not too
(Power Fault) power related fault high.
condition. Operation above continuous power rating
and/or product environmental ratings. • Operate within the continuous power
rating.
• Reduce acceleration rates.
Remove all power and motor connections,
and preform a continuity check from the dc
Kinetix 6000 has a short circuit, bus to the U, V, and W motor outputs. If a
overcurrent, or failed component. continuity exists, check for wire fibers
between terminals, or send drive in for
repair.

HardOvertravel • Check wiring.

Axis moved beyond the
E06 Fault physical travel limits in the Dedicated overtravel input is inactive. • Verify motion profile.
(+/- Hard Overtravel) positive/negative direction.
• Verify axis configuration in software.
• Check motor encoder wiring.
MotFeedbackFault
E07 The feedback wiring is open, shorted, or missing. • Run Hookup test in RSLogix 5000
(Motor Feedback Loss)
software.
• Verify voltage level of the incoming ac
power.
With three-phase power • Check ac power source for glitches or
present, the dc bus voltage line drop.
is below limits. • DC bus voltage for 460V system is
BusUndervoltage below 275V • Install an uninterruptible power supply
E09 Fault (UPS) on your ac input.
(Bus Undervoltage) • DC bus voltage for 230V system is
DC bus voltage fell below below 137V
the undervoltage limit
while an axis on the Disable follower axis before removing
follower power rail was power.
enabled.

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Error Fault Message

Code RSLogix (HIM) Problem or Symptom Potential Cause Possible Resolution

Excessive regeneration of power.

• Change the deceleration or motion
When the motor is driven by an external profile.
mechanical power source, it may
regenerate too much peak energy • Use a larger system (motor and Kinetix
DriveOvervoltage through the drive power supply. The 6000 drive).
Fault The dc bus voltage is system faults to save itself from an • Install shunt module.
E10 above limits.
(Bus Overvoltage) overload.
• DC bus voltage for 460V system is
over 820V
Verify input is within specifications.
• DC bus voltage for 230V system is
over 410V
• Verify the Hall wiring at the MF
MotFeedbackFault State of Hall feedback connector on the IAM/AM.
E11 inputs is incorrect. Bad connections.
(Illegal Hall State)
• Verify 5V power supply to the encoder.
Softovertravel • Verify motion profile.
Fault
E16 Axis position exceeded maximum software setting. • Verify overtravel settings are
(+/- Software
Overtravel) appropriate.

OverSpeedFault Motor speed has exceeded 150% of maximum rated speed. The 100% • Check cables for noise.
E18 trip point is dictated by the lesser of the user velocity limits or the
(Overspeed Fault) motor rated base speed. • Check tuning.

• Increase the feed forward gain.

• Increase following error limit or time.
PositionErrorFault • Check position loop tuning.
E19 Position error limit was exceeded.
(Follow Error) • Verify sizing of system.
• Verify mechanical integrity of system
within specification limits.
• Use shielded cables with twisted pair
wires.
MotFeedbackFault The motor encoder encountered an • Route the feedback away from
E20 Motor Encoder State Error illegal transition. potential noise sources.
(Mtr Fdbk AQB)
• Check the system grounds.
• Replace the motor/encoder.
AuxFeedbackFault
E21 Communication was not established with an intelligent encoder. Verify auxiliary encoder wiring.
(Aux Feedback Comm)
• Verify motor selection.

E30
MotFeedbackFault
Communication was not established with an intelligent encoder. • Verify the motor supports automatic
(Motor Feedback Comm) identification.
• Verify motor encoder wiring.

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Error Fault Message

Code RSLogix (HIM) Problem or Symptom Potential Cause Possible Resolution

• Check motor power wiring.

Wiring error.
• Check input power wiring.
Motor internal ground short. Replace motor.
Disconnect motor power cable from drive
and enable drive with current limit set to 0.
Excessive ground current in Internal malfunction. If fault clears, then a wiring error or motor
GroundShortFault internal problem exists. If fault remains,
E34 the converter was
(Ground Fault) detected. call your sales representative.
• Remove ground from control power
input.
Grounded control power terminal • Wire control power to use main power
(applies to 230V systems only) as shown on page 40.
• Add isolation transformer for control
power.
DriveUndervoltage Low ac input voltage. Check input ac voltage on all phases.
E35 Fault Converter pre-charge cycle
failed. Internal malfunction. Call your sales representative.
(Pre-charge Fault)
• Reduce acceleration rates.
• Reduce duty cycle (ON/OFF) of
commanded motion.
DriveOvertemp • Increase time permitted for motion.
Fault Converter thermal switch Excessive heat exists in the power
E36 tripped. circuitry. • Use larger Kinetix 6000 converter.
(System
Overtemperature) • Check for clogged vents or defective
fan.
• Make sure cooling is not restricted by
insufficient space around the unit.
• One or more phases of the input ac power is missing.
PowerPhaseLoss • Check input ac voltage on all phases.
E37 Fault • Axis was enabled when main (three-phase) power was removed.
(Phase Loss Flt) • Common bus follower axis was enabled when dc bus power was • Disable axis before removing power.
removed.

SERCOSFault The SERCOS ring is not Check that fiber-optic cable is present and
E38 active after being active Cable disconnected. connected properly.
(SERCOS Ring Flt) and operational.
• Verify that there are no impediments to
motion at startup, such as hard limits.

E39
DriveHardFault Self-sensing Commutation Motion required for self-sensing startup • Increase self-sensing current if high
(Self Sense Flt) Startup Error commutation was obstructed. friction or load conditions exist.
• Check motor or encoder wiring using
wiring diagnostics.
• An attempt was made to enable the • Disable the Drive Enable Input fault.
axis through software while the Drive
DriveEnableInput Enable hardware input was inactive. • Verify that Drive Enable hardware input
E43 Fault Missing Drive Enable Input is active whenever the drive is enabled
Signal • The Drive Enable input transitioned through software.
(Drive Enable Flt)
from active to inactive while the axis
was enabled.
• Loose wiring at SO connector. • Verify wire terminations, cable/header
connections, and +24V.
DriveHardFault Safe-off function • Cable/header not seated properly in
E49 mismatch. Drive will not SO connector. • Reset error and run proof test.
(Safe-off HW Flt) allow motion.
• Safe-off circuit missing +24V dc. • If error persists, return the drive to
Rockwell Automation.

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Error Fault Message

Code RSLogix (HIM) Problem or Symptom Potential Cause Possible Resolution

SERCOSFault Verify that each SERCOS drive is assigned

E50 Duplicate node address detected on SERCOS ring. a unique node address.
(SERCOS Same ADDR)
DriveHardFault
E54 Current feedback hardware fault detected. Replace the module
(Ifbk HW Fault)
DriveHardFault
E60 Illegal ID bits detected Replace the module
(Unknown Axis)
• Use shielded cables with twisted pair
wires.
AuxFeedbackFault Auxiliary Encoder State The auxiliary encoder encountered an • Route the feedback away from
E61 potential noise sources.
(Aux Fdbk AQB) Error illegal transition.
• Check the system grounds.
• Replace the motor/encoder.

AuxFeedbackFault Check the motor feedback cable

E62 The feedback wiring is open, shorted, or missing. connectors/wiring to the IAM/AM and
(Aux Fdbk Loss) motor.
AuxFeedbackNoise Noise on auxiliary • Verify grounding.
E63
(Aux Fdbk Noise) feedback cable. • Route feedback cable away from noise
Recommended grounding, per
installation instructions, has not been sources.
MotorFeedbackNoise Noise on motor feedback followed. • Refer to System Design for Control of
E64 Electrical Noise Reference Manual,
(Mtr Fdbk Noise) cable.
publication GMC-RM001.
No Fault Message
(condition indicated • Check motor power/feedback wiring.
E65 by on-screen Hookup procedure failed Motor or feedback device malfunction. • Refer to on-screen message for
message) resolution.
(Hookup Fault)
• Check motor power/feedback wiring.
No Fault Message • Refer to on-screen message for
(condition indicated resolution.
E66 by on-screen Autotune procedure failed Motor or feedback device malfunction.
message) • Perform Hookup in RSLogix 5000
(Atune Flt) software.
• Consult RSLogix 5000 help screen.
DriveHardFault Software initialization fault detected due • Cycle power.
E67 Operating system failed
(Task init) to hardware failure. • If fault persists, replace module.
DriveHardFault
E68 DPI communication failed The DPI device or cable is faulty. Check DPI connections.
(SCANport Comm)

DriveHardFault Load default parameters, save to

E69 Non-volatile memory is corrupt due to control board hardware failure. non-volatile memory, and recycle power or
(Objects Init) reset the drive.

DriveHardFault Load default parameters, save to

E70 Non-volatile memory is corrupt due to control board software error. non-volatile memory, and recycle power or
(NV Mem Init) reset the drive.
DriveHardFault • Cycle power.
E71 RAM or Flash memory validation failure
(Memory Init) • If fault persists, replace module.

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Error Fault Message

Code RSLogix (HIM) Problem or Symptom Potential Cause Possible Resolution

The fan on the IAM or an AM failed. Replace the failed module.

The cabinet ambient temperature is Check the cabinet temperature.
above rating.
DriveOvertemp
E72 Fault Inverter thermal switch The machine duty cycle requires an RMS
tripped current exceeding the continuous rating Change the command profile to reduce
(Drive Overtemp) speed or increase time.
of the controller.
The airflow access to the Kinetix 6000 Check airflow and re-route cables away
system is limited or blocked. from the Kinetix 6000 system.
Power rail CAN communications failed. Check module for proper mount.
Communicate
E73 Check power rail and module for foreign
(Backplane Comm) Power rail connection shorted or open. objects.
• Check for proper motor sizing.

DriveOvercurrent Motor or transmission malfunction. • Check/replace transmission device.

E74 Fault DC link current exceeds • Check/replace motor.
rating.
(Bus OverCurrent) • Check for proper IAM sizing.
IAM not properly sized.
• Install larger kW rated IAM.
• Use a properly sized shunt or modify
DriveOvervoltage duty cycle of the application.
E75 Fault The IAM, AM, or SM has exceeded its shunt resistor continuous rating. • System uses internal shunt and
(Shunt Time Out) requires external shunt for additional
capacity.
• Reset System.
DriveHardFault DPI hardware initialization
E76 fault detected. Control board hardware failure. • If fault persists, replace system
(Can Init)
module.
DriveHardFault Either 230V AM is installed on power rail with 460V IAM, or 460V AM
E77 Replace mismatched module.
(Module Mismatch) is installed on power rail with 230V IAM.

DriveHardFault • Cycle power.

E78 Control hardware fault detected.
(SERCOS Init) • If fault persists, replace module.
SM Temperature Fault LED Refer to Temperature Fault LED on page 87.
status is Steady Red
DriveOvervoltage
Fault SM Shunt Fault LED status
E79 is Steady Red Refer to Shunt Fault LED on page 87.
(Shunt Module Flt)
• Install missing module on power rail.
Module missing from power rail.
• Fill empty slot with slot filler module.
DriveHardFault
E80 Control hardware fault detected. Replace module.
(CPLD FLT)
DriveHardFault Remove ac input power connections from
E81 Follower IAM detected ac input power being applied. follower IAM.
(Common Bus FLT)
DriveHardFault
E90 Pre-charge resistor power exceeds the resistor rating. Allow resistor to cool.
(Pre-charge Timeout FLT)
All RESERVED Call your local Rockwell Automation sales
others representative.

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 Kinetix 6000 Multi-axis Servo Drive 85

IAM/AM Status Indicators

Drive Status LED

Drive Status LED Status Potential Cause Possible Resolution

Off Normal, no faults N/A N/A

Steady Red Drive faulted Seven-segment LED displays error code Refer to the section Error Codes and continue
troubleshooting.

Comm Status LED

Comm Status LED Status Potential Cause Possible Resolution

Steady Green Communication ready No faults or failures. N/A
System is still in the process of establishing Wait for steady green LED status.
SERCOS communication.
Establishing
Flashing Green communication Node address setting on the drive module
does not match SERCOS controller Verify proper node switch setting.
configuration.
Loose fiber-optic connection. Verify proper fiber-optic cable connections.

Off No communication (1) Broken fiber-optic cable. Replace fiber-optic cable.

Receive fiber-optic cable connected to Check proper SERCOS fiber-optic cable
SERCOS transmit connector and vice versa. connections.
(1) Refer to Fiber Optic Cable Installation and Handling Instructions, publication 2090-IN010, for more information.

Bus Status LED

Bus Status LED Status Condition

Normal when:
Steady Green Bus power is present, axis enabled. • 24V is applied to Hardware Enable Input (IOD-2).
No faults or failures.
• MSO instruction is commanded in RSLogix 5000 software.
Normal when:
Flashing Green Bus power is present, axis disabled. • 24V is not applied to Hardware Enable Input (IOD-2).
No faults or failures.
• MSO instruction is not commanded in RSLogix 5000 software.
• Normal when bus power is not applied.
Bus power not present. • Fault exists, refer to seven segment Error Code and Interpret Status Indicators
beginning on page 79.
Off • Follower IAM is not configured as CommonBus Follow in RSLogix 5000
software.
Bus power is present in follower IAM. • After dc bus voltage is applied, a 2.5 second delay before the LED begins
flashing green is normal operation to provide common bus leader time to
complete pre-charge.

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SM Status Indicators

Each of the shunt module LEDs provide specific troubleshooting

information, as described in Bus Status LED, Temperature Fault LED,
and Shunt Fault LED.

General Shunt Module Troubleshooting

Module Status Under These Conditions

Fault is latched Until fault condition is corrected and cleared.
• Using RSLogix MASR, MAFR, MGSR commands or the HIM (red
stop button).
SM • Only after the dc bus is discharged (SM Bus Status LED is
Fault is cleared
flashing).
• Drive must be configured with 2094-BSP2 or Bulletin 1394 external
shunt module.
• When the 2094-BSP2 shunt module is used on a 230V system.
Disabled (for dc bus • When either 230V or 460V system is configured with a Bulletin
regulation) 1394 external shunt module.
• When configured in common bus follower mode.
IAM/AM
Enabled to discharge the dc
bus Drive (IAM or leader IAM) three-phase power is removed.

Disabled from discharging When configured in common bus follower mode.

the dc bus

IMPORTANT Under some fault conditions, two reset commands may be

required to clear drive and SM faults.

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Bus Status LED

Bus Status LED Status Potential Cause Possible Resolution

Normal condition when control power is applied and bus voltage is less than
Flashing 60V dc. N/A

Normal condition when control power is applied and bus voltage is greater
Steady Green than 60V dc. N/A

Off Control power is not present Internal power supply failure Replace shunt module.

Temperature Fault LED

Temp Fault LED Status Potential Cause Possible Resolution

Off Normal condition N/A
Shunt module fan failed Replace shunt module.
SM internal temperature
exceeds operating • Allow shunt module to cool.
temperature specification Shunt module temperature exceeds rating • Reset faults.
• Verify IAM bus regulator configuration.
Steady Red
• Allow shunt module to cool.
External over temperature External temperature switch is open • Reset faults.
condition • Verify IAM bus regulator configuration.
TS jumper is not present Install jumper.

Shunt Fault LED

Shunt Fault LED Status Potential Cause Possible Resolution

Off Normal condition N/A
Mis-wired shunt jumper or other short on RC
Shorted internal or external connector • Correct mis-wire (shorted) condition.
Steady Red
shunt resistor • If problem persists, replace shunt module.
Mis-wired (shorted) external shunt wiring

All SM Status LEDs

SM Status LED Status Potential Cause Possible Resolution

• Bus Status
All three SM status LEDs • Cycle power.
• Temperature Fault flash simultaneously Shunt module hardware failure
• If problem persists, replace shunt module.
• Shunt Fault

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Troubleshoot General System Problems

Condition Potential Cause Possible Resolution

The position feedback device is incorrect or open. Check wiring.

Unintentionally in torque mode. Check to see what primary operation mode

was programmed.
Motor tuning limits are set too high. Run Tune in RSLogix 5000 software.
Position loop gain or position controller accel/decel rate is
improperly set. Run Tune in RSLogix 5000 software.

Axis or system is unstable. Improper grounding or shielding techniques are causing noise to
be transmitted into the position feedback or velocity command Check wiring and ground.
lines, causing erratic axis movement.

Motor Select limit is incorrectly set (servo motor is not matched • Check setups.
to axis module). • Run Tune in RSLogix 5000 software.
Notch filter or output filter may be required
Mechanical resonance (refer to Axis Properties dialog, Output tab in
RSLogix 5000 software).
Torque Limit limits are set too low. Verify that current limits are set properly.

Incorrect motor selected in configuration. Select the correct motor and run Tune in
RSLogix 5000 software again.
• Check motor size vs. application need.
The system inertia is excessive.
• Review servo system sizing.
You cannot obtain the motor The system friction torque is excessive. Check motor size vs. application need.
acceleration/deceleration
that you want. • Check motor size vs. application need.
Available current is insufficient to supply the correct accel/decel
rate. • Review servo system sizing.

Acceleration limit is incorrect. Verify limit settings and correct them, as

necessary.

Velocity Limit limits are incorrect. Verify limit settings and correct them, as
necessary.
Disable the axis, wait for 1.5 seconds, and
The axis cannot be enabled for 1.5 seconds after disabling. enable the axis.

Enable signal has not been applied or the enable wiring is • Check the controller.
incorrect. • Check the wiring.
The motor wiring is open. Check the wiring.

Motor does not respond to a • Check for a fault.

The motor thermal switch has tripped.
velocity command. • Check the wiring.
The motor has malfunctioned. Repair or replace the motor.
The coupling between motor and machine has broken (i.e., the
motor moves, but the load/machine doesn’t). Check and correct the mechanics.

Primary operation mode is set incorrectly. Check and properly set the limit.
Velocity or current limits are set incorrectly. Check and properly set the limits.

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Condition Potential Cause Possible Resolution

• Verify grounding.
• Route wire away from noise sources.
Recommended grounding per installation instructions have not
been followed. • Refer to System Design for Control of
Electrical Noise, publication
GMC-RM001.
Presence of noise on
command or motor feedback • Verify grounding.
signal wires. Line frequency may be present.
• Route wire away from noise sources.
Variable frequency may be velocity feedback ripple or a • Decouple the motor for verification.
disturbance caused by gear teeth or ballscrew balls etc. The
frequency may be a multiple of the motor power transmission • Check and improve mechanical
components or ballscrew speeds resulting in velocity performance of the gearbox, ballscrew,
disturbance. etc.

The motor connections are loose or open. Check motor wiring and connections.
Foreign matter is lodged in the motor. Remove foreign matter.
The motor load is excessive. Verify the servo system sizing.
No rotation The bearings are worn. Return the motor for repair.
• Check brake wiring and function.
The motor brake is engaged (if supplied).
• Return the motor for repair.
The motor is not connect to the load. Check coupling.
Change the command profile to reduce accel/
The duty cycle is excessive. decel or increase time.
Motor overheating
The rotor is partially demagnetized causing excessive motor
current. Return the motor for repair.

Motor tuning limits are set too high. Run Tune in RSLogix 5000 software again.
• Remove the loose parts.
Loose parts are present in the motor. • Return motor for repair.
• Replace motor.
Abnormal noise
Through bolts or coupling is loose. Tighten bolts.
The bearings are worn. Return motor for repair.
Notch filter may be required (refer to Axis
Mechanical resonance Properties dialog, Output tab in RSLogix 5000
software).
Motor power phases U and V, U and W, or V and W reversed. Check and correct motor power wiring.
Erratic operation - Motor
locks into position, runs Sine, Cosine or Rotor leads are reversed in the feedback cable
without control or with connector. Check and correct motor feedback wiring.
reduced torque.
Sine, Cosine, Rotor lead sets of resolver feedback are reversed. Check and correct motor feedback wiring.

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Specifications This section contains power and general drive specifications for the
IAM, AM, and SM modules.

Integrated Axis Module (converter) Power Specifications

IAM (230V) Power Specifications

Description
Specification
2094-AC05-MP5-S 2094-AC05-M01-S 2094-AC09-M02-S 2094-AC16-M03-S 2094-AC32-M05-S
AC input voltage 195...264V rms three-phase (230V nom)
AC input frequency 47...63 Hz

Main ac input current (1)

Nom (rms) 10 A 19 A 36 A 71 A
Max inrush (0-pk) 20 A 33 A 65 A 120 A
DC input voltage (common bus follower) 275...375V dc
DC input current (common bus follower) 10 A 19 A 36 A 71 A
Control power ac input voltage 95...264V rms single-phase (230V nom)
Control power ac input current
Nom (@ 220/230V ac) rms 6A 6A
Max inrush (0-pk) 20 A 83 A (2)
Nominal bus output voltage 325V dc
Line loss ride through 20 ms
Continuous output current 10 A 19 A 36 A 71 A
to bus (Adc)
Intermittent output current
20 A 38 A 72 A 142 A
to bus (Adc) (3)
Bus overvoltage 425V dc
Bus undervoltage 138V dc
Internal shunt
Continuous power N/A 50 W 200 W 200 W
Peak power N/A 8,000 W 5,600 W 5,600 W
Internal shunt resistor N/A 20 Ω 28.75 Ω 28.75 Ω
Shunt on N/A 405V dc
Shunt off N/A 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/A 150 µH 75 µH
Converter capacitance 270 µF 540 µF 1,320 µF 1,980 µF
(1)
All 2094-xCxx integrated axis 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).
(2) Maximum inrush duration is less than 1/2 line cycle.
(3) Intermittent output current duration equals 250 ms.

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IAM (460V) Power Specifications

Description
Specification
2094-BC01-MP5-S 2094-BC01-M01-S 2094-BC02-M02-S 2094-BC04-M03-S 2094-BC07-M05-S
AC input voltage 324...528V rms three-phase (360...480V nom)
AC input frequency 47...63 Hz
(1)
Main ac input current
Nom (rms) 10 A 24 A 44 A 71 A
Max inrush (0-pk) 10 A 20 A 34 A 56 A
DC input voltage (common bus follower) 458...747V dc
DC input current (common bus follower) 10 A 24 A 43 A 71 A
Control power ac input voltage 95...264V rms single-phase (230V nom)
Control power ac input current
Nom (@ 220/230V ac) rms 6A
Max inrush (0-pk) 25 A
Nominal bus output voltage 650V dc
Line loss ride through 20 ms
Continuous output current
to bus (Adc) 10 A 24 A 43 A 71 A

Intermittent output current

20 A 48 A 86 A 142 A
to bus (Adc) (2)
Bus overvoltage 825V dc
Bus undervoltage 275V dc
Internal shunt
Continuous power 50 W 200 W
Peak power 5,600 W 22,300 W
Internal shunt resistor 115 Ω 28.75 Ω
Shunt on 805V dc
Shunt off 755V dc
Continuous power output to bus 6 kW 15 kW 27.6 kW 45 kW
Peak power output 12 kW 30 kW 55.2 kW 90 kW
Efficiency 95%
Converter inductance 250 µH 125 µH 75 µH
Converter capacitance 110 µF 220 µF 940 µF 1,410 µF
(1)
All 2094-xCxx integrated axis 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).
(2)
Intermittent output current duration equals 250 ms.

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Axis Module (inverter) Power Specifications

The following tables list power specifications for the Kinetix 6000 axis
modules. The 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 integrated axis module.

AM (inverter) 230V Power Specifications

Description
Specification 2094-AMP5-S 2094-AM01-S 2094-AM02-S 2094-AM03-S 2094-AM05-S
(2094-AC05-MP5-S) (2094-AC05-M01-S) (2094-AC09-M02-S) (2094-AC16-M03-S) (2094-AC32-M05-S)

Bandwidth (1)
Velocity loop 500 Hz
Current loop 1,300 Hz
PWM frequency 8 kHz 4 kHz
Nominal input voltage 325V dc
Continuous current (rms) 3.7 A 6.0 A 10.6 A 17.3 A 34.6 A
Continuous current (0-pk) 5.2 A 8.5 A 15.0 A 24.5 A 48.9 A

Peak current (rms) (2) 7.4 A 12.0 A 21.2 A 34.6 A 51.9 A

Peak current (0-pk) (2) 10.5 A 17.0 A 30.0 A 48.9 A 73.4 A

Continuous power out (nom) 1.2 kW 1.9 kW 3.4 kW 5.5 kW 11.0 kW
Internal shunt
Continuous power N/A 50 W
Peak power N/A 1,400 W
Internal shunt resistor N/A 115 Ω
Shunt on N/A 405V dc
Shunt off N/A 375V dc
Efficiency 98%
Capacitance 390 µF 660 µF 780 µF 1,320 µF 2,640 µF
Capacitive energy absorption 15 J 25 J 29 J 50 J 99 J
(1)
Bandwidth values vary based on tuning parameters and mechanical components.
(2)
Peak current duration equals 2.5 seconds.

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AM (inverter) 460V Power Specifications

Description
Specification 2094-BMP5-S 2094-BM01-S 2094-BM02-S 2094-BM03-S 2094-BM05-S
(2094-BC01-MP5-S) (2094-BC01-M01-S) (2094-BC02-M02-S) (2094-BC04-M03-S) (2094-BC07-M05-S)

Bandwidth (1)
Velocity loop 500 Hz
Current loop 1,300 Hz
PWM frequency 8 kHz 4 kHz
Nominal input voltage 650V dc
Continuous current (rms) 2.8 A 6.1 A 10.3 A 21.2 A 34.6 A
Continuous current (sine)
0-pk 4.0 A 8.6 A 14.6 A 30.0 A 48.9 A
(2)
Peak current (rms) 4.2 A 9.2 A 15.5 A 31.8 A 51.9 A
Peak current (0-pk) (2) 5.9 A 12.9 A 21.8 A 45.0 A 73.4 A
Continuous power out (nom) 1.8 kW 3.9 kW 6.6 kW 13.5 kW 22.0 kW
Internal shunt
Continuous power 50 W 200 W
Peak power 5,600 W 22,300 W
Internal shunt resistor 115 Ω 28.75 Ω
Shunt on 805V dc
Shunt off 755V dc
Efficiency 97%
Capacitance 75 µF 150 µF 270 µF 840 µF 1,175 µF
Capacitive energy absorption 10 J 19 J 35 J 108 J 152 J
(1)
Bandwidth values vary based on tuning parameters and mechanical components.
(2)
Peak current duration equals 2.5 seconds.

Shunt Module Power Specifications

Specifications
Shunt Module Drive Peak Peak Continuous Fuse Replacement
Kinetix 6000 Drives Catalog Number
Voltage Resistance Power Current Power
V ac Ω kW A W
2094-ACxx-Mxx-S 230 5.7 14
or 2094-BSP2 28.75 200 N/A (no internal fuse)
2094-BCxx-Mxx-S 460 22.5 28

For specifications and dimensions of passive external shunt modules

compatible with the 2094 shunt module, refer to the Kinetix Motion
Control Selection Guide, publication GMC-SG001.

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Power Dissipation Specifications

Use the following 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%

Integrated axis module (IAM converter) (1)

2094-AC05-MP5-S
19 23 27 31 35
2094-AC05-M01-S
2094-AC09-M02-S 33 51 69 87 105
2094-AC16-M03-S 18 38 60 83 108
2094-AC32-M05-S 31 64 102 144 190
2094-BC01-MP5-S
15 20 25 30 35
2094-BC01-M01-S
2094-BC02-M02-S 20 30 40 50 60
2094-BC04-M03-S 22 43 65 86 108
2094-BC07-M05-S 44 77 111 144 177

Integrated axis module (IAM Inverter) or axis module (AM) (1)

2094-AC05-MP5-S or -AMP5-S 60 65 70 75 80
2094-AC05-M01-S or -AM01-S 62 69 76 83 90
2094-AC09-M02-S or -AM02-S 64 73 82 91 100
2094-AC16-M03-S or -AM03-S 50 72 99 130 165
2094-AC32-M05-S or -AM05-S 106 160 220 285 356
2094-BC01-MP5-S or -BMP5-S 75.7 80.9 86 92 98
2094-BC01-M01-S or -BM01-S 95 120 145 170 195
2094-BC02-M02-S or -BM02-S 98 126 154 182 210
2094-BC04-M03-S or -BM03-S 95 132 171 212 256
2094-BC07-M05-S or -BM05-S 118 182 251 326 406
Shunt module (SM)
2094-BSP2 68 121 174 227 280
(1) Internal shunt power is not included in the calculations and must be added based on utilization.

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Circuit Breaker/Fuse Specifications

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 integrated axis modules
(2094-xCxx-Mxx-S) when the Line Interface Module (LIM) is not used.

IMPORTANT Line Interface Modules (2094-ALxxS, -BLxxS, and -XL75S-Cx)

provide branch circuit protection to the IAM. Follow all
applicable NEC and local codes.

Fuse Specifications

V ac Input Power Control Input Power DC Common Bus Fuse

Catalog Number Bussmann Allen-Bradley Bussmann Allen-Bradley Bussmann Ferraz
Fuse Circuit Breaker (1) Fuse Circuit Breaker (1) Fuse Shawmut Fuse
2094-AC05-MP5-S
KTK-R-20 (20 A) 1492-CB3H300 140M-F8E-C16 N/A A50P20-1
2094-AC05-M01-S 1492-CB2H060
2094-AC09-M02-S KTK-R-30 (30 A) 1492-CB3H400 140M-F8E-C20 FWH-35B A50P35-4
2094-AC16-M03-S LPJ-45SP (45 A) N/A 140U-H6C3-C50 FWH-60B A50P60-4
1492-SP2D200
2094-AC32-M05-S LPJ-80SP (80 A) N/A 140U-H6C3-C90 FWH-125B A50P125-4
FNQ-R-10 (10 A)
2094-BC01-MP5-S
KTK-R-20 (20 A) 1492-CB3H300 140M-F8E-C32 N/A A100P20-1
2094-BC01-M01-S
2094-BC02-M02-S KTK-R-30 (30 A) 1492-CB3H400 140M-F8E-C45 1492-CB2H060 FWJ-40A A100P40-1
2094-BC04-M03-S LPJ-45SP (45 A) 140U-H6C3-C50 FWJ-70A A100P70-1
N/A
2094-BC07-M05-S LPJ-80SP (80 A) 140U-H6C3-C90 FWJ-125A A100P125-1
(1)
When using Bulletin 1492 circuit protection devices, the maximum short circuit current available from the source is limited to 5000 A.

Input Transformer for Control Power

You can use any general purpose transformer with the following
ratings.

Attribute Value (460V system)

Input volt-amperes 750VA
Input voltage 460V ac
Output voltage 120...240V ac

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Contactor Ratings

The table below lists the recommended contactor ratings for

integrated axis modules installed without a line interface module.

Catalog Number Contactor Catalog Number Contactor

230V IAM 460V IAM
2094-AC05-MP5-S 100-C23x10 (ac coil) 2094-BC01-MP5-S 100-C23x10 (ac coil)
2094-AC05-M01-S 100-C23Zx10 (dc coil) 2094-BC01-M01-S 100-C23Zx10 (dc coil)

2094-AC09-M02-S 100-C37x10 (ac coil) 2094-BC02-M02-S 100-C37x10 (ac coil)

100-C37Zx10 (dc coil) 100-C37Zx10 (dc coil)
100-C72x10 (ac coil) 100-C60x10 (ac coil)
2094-AC16-M03-S 100-C72Zx10 (dc coil) 2094-BC04-M03-S 100-C60Zx10 (dc coil)
100-C85x10 (ac coil) 100-C72x10 (ac coil)
2094-AC32-M05-S 100-C85Zx10 (dc coil) 2094-BC07-M05-S 100-C72Zx10 (dc coil)

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 cable length, as shown in the tables below. These tables
assume the use of recommended 2090 series cables.

MP-Series (MPL and MPG) Motors

MPL-A (230V) Motors MPL-B (460V) Motors MPG-A MPG-B

(230V) Motors (460V) Motors
Absolute Absolute Absolute Absolute
High-resolution (1) Incremental (2) High-resolution (1) Incremental (2) Resolver (3) High-resolution (4) High-resolution (4)
m (ft) m (ft) m (ft) m (ft) m (ft) m (ft) m (ft)
30 (98.4) 30 (98.4) 90 (295.3) 30 (98.4) 90 (295.3) 30 (98.4) 60 (196.8)
(1) Refers to MPL-A/BxxxS/M (single-turn or multi-turn) low inertia motors with absolute high-resolution feedback.
(2) Refers to MPL-A/BxxxH low inertia motors with 2000-line incremental feedback.
(3)
Refers to MPL-A/BxxxR low inertia motors with 2-pole resolver feedback.
(4)
Refers to MPG-A/BxxxS/M (single-turn or multi-turn) integrated gear motors with absolute high-resolution feedback.

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MP-Series (MPF and MPS), 1326AB, and TL-, F-, H-, N-, and Y-Series Motors

MPF-A and MPS-A MPF-B and MPS-B 1326AB (M2L/S2L) 1326AB F-, H-, N, or Y-Series TL-Series
(230V) Motors (460V) Motors (460V) Motors (460V) Motors (230V) Motors (230V) Motors
Absolute Absolute Absolute
High-resolution (1) (2) High-resolution (1) (2) High-resolution (3) Resolver (4) Incremental (5) Incremental (6)
m (ft) m (ft) m (ft) m (ft) m (ft) m (ft)
30 (98.4) 90 (295.3) 90 (295.3) 90 (295.3) 30 (98.4) 30 (98.4)
(1) Refers to MPF-A/BxxxxS/M (single-turn or multi-turn) food grade motors with absolute high-resolution feedback.
(2)
Refers to MPS-A/BxxxxS/M (single-turn or multi-turn) stainless steel motors with absolute high-resolution feedback.
(3)
Refers to 1326AB-Bxxxx-M2L/S2L (single-turn or multi-turn) motors with absolute high-resolution feedback.
(4)
Refers to 1326AB-Bxxxx-21 motors with resolver feedback.
(5) Refers to F-, H-, N-, or Y-Series motors with incremental (optical encoder) feedback.
(6) Refers to TL-Axxxx-H low inertia motors with incremental feedback.

Weight Specifications

Kinetix 6000 Value, Approx. Kinetix 6000 Value, Approx.

Catalog Number Catalog Number
Module kg (lb) Module kg (lb)
2094-AC05-MP5-S 2.23 (4.9) 2094-BC01-MP5-S 4.98 (11.0)
2094-AC05-M01-S 2.27 (5.0) 2094-BC01-M01-S 5.03 (11.1)
IAM 2094-AC09-M02-S 2.31 (5.1) IAM 2094-BC02-M02-S 5.08 (11.2)
(230V) (460V)
2094-AC16-M03-S 4.71 (10.4) 2094-BC04-M03-S 9.60 (21.1)
2094-AC32-M05-S 7.43 (16.4) 2094-BC07-M05-S 10.1 (22.3)
2094-AMP5-S 1.46 (3.2) 2094-BMP5-S 2.44 (5.4)
2094-AM01-S 1.50 (3.3) 2094-BM01-S 2.49 (5.5)
AM AM
(230V) 2094-AM02-S 1.54 (3.4) (460V) 2094-BM02-S 2.54 (5.6)
2094-AM03-S 3.13 (6.9) 2094-BM03-S 4.58 (10.1)
2094-AM05-S 3.18 (7.0) 2094-BM05-S 4.98 (11.0)
2094-PRS1 1.05 (2.3) 2094-PR1 1.04 (2.3)
2094-PRS2 1.59 (3.5) 2094-PR2 1.41 (3.1)
2094-PRS3 2.14 (4.7) Power Rails 2094-PR4 2.18 (4.8)

Power Rails 2094-PRS4 2.67 (5.9) 2094-PR6 2.90 (6.4)

(Slim) 2094-PRS5 3.11 (6.8) 2094-PR8 3.63 (8.0)
2094-PRS6 3.55 (7.8)
2094-PRS7 3.99 (8.8) SM (460V) 2094-BSP2 3.10 (6.8)
2094-PRS8 4.43 (9.7) Slot Filler Module 2094-PRF 0.45 (1.0)

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Environmental Specifications

Specification Operational Range Storage Range (non-operating)

Ambient Temperature 0...50 ° C (32...122 ° F) -40...70 ° C (-40...158 ° F)
Relative Humidity 5...95% noncondensing 5...95% noncondensing
Altitude 1000 m (3281 ft) 3000 m (9843 ft) during transport

Vibration 0.152 mm (0.006 in.) peak-to-peak displacement (max), 0.381 mm (0.015 in.) peak-to-peak displacement (max),
1.0 g peak (max) acceleration @ 5...2000 Hz 2.5 g peak (max) acceleration @ 5...2000 Hz
15 g, 11 ms half-sine pulse (3 pulses in each direction 30 g, 11 ms half-sine pulse (3 pulses in each direction
Shock of 3 mutually perpendicular directions) of 3 mutually perpendicular directions)

Certifications

Certification (1) Standards

(when product is marked)
c-UL-us UL Listed to U.S. and Canadian safety standards (UL 508 C File E59272).
European Union 89/336/EEC EMC Directive compliant with EN 61800-3:2004:
Adjustable Speed Electrical Power Drive Systems - Part 3; EMC Product
Standard including specific test methods.
CE European Union 73/23/EEC Low Voltage Directive compliant with:
• EN 60204-1:1997 - Safety of Machinery - Electrical Equipment of Machines.
• EN 50178:1997 - Electronic Equipment for use in Power Installations.
• EN 60204-1:1997 - Safety of Machinery - Electrical Equipment of Machines.
• IEC 61508: Part 1-7:2000 - Functional Safety of Electrical/Electronic/
Functional Safety Programmable Electronic Safety-related Systems.
• EN954-1:1996 - Safety of machinery. Safety related parts of control systems.
Part 1: General principles for design.
(1) Refer to http://www.rockwellautomation.com/products/certification for Declarations of Conformity Certificates.

Publication 2094-IN001H-EN-P — July 2006

 Kinetix 6000 Multi-axis Servo Drive 99

Additional Resources The following documents contain additional information concerning

related Allen-Bradley products.

For Read This Document Publication Number

Information on installation, configuring, troubleshooting, and
applications for your Kinetix 6000 drive Kinetix 6000 User Manual 2094-UM001

Information on wiring, troubleshooting, and applications for your Kinetix Safe-off Feature Safety Reference Manual GMC-RM002
Kinetix 6000 safety drive
Information on the installation of your Bulletin 2094 Power Rail Kinetix 6000 Power Rail Installation Instructions 2094-IN003
Information on the installation of your Bulletin 2094 Mounting
Brackets 2094 Mounting Bracket Installation Instructions 2094-IN008

Information on the installation and troubleshooting of your Bulletin Line Interface Module Installation Instructions 2094-IN005
2094 Line Interface Module (LIM)
A description and specifications for the 2094 drive family including
the LIM, RBM, and compatible servo motors Kinetix Motion Control Selection Guide GMC-SG001

Drive and motor sizing with application analysis software Motion Analyzer CD, v4.2 or later PST-SG003
On-line product selection and system configuration tools, including Rockwell Automation Configuration and Selection http://www.ab.com/
autocad (DXF) drawings Tools website e-tools
Information on configuring and troubleshooting your ControlLogix Motion Modules in Logix5000 Control Systems User
and CompactLogix SERCOS interface modules Manual LOGIX-UM002

Information on configuring and troubleshooting your SoftLogix PCI SoftLogix Motion Card Setup and Configuration
card Manual 1784-UM003

Information on the installation and troubleshooting of your Bulletin Resistive Brake Module Installation Instructions 2090-IN009
2090 Resistive Brake Module (RBM)
Information on proper handling, installing, testing, and Fiber-Optic Cable Installation and Handling
troubleshooting fiber-optic cables Instructions 2090-IN010

System Design for Control of Electrical Noise GMC-RM001

Information, examples, and techniques designed to minimize system Reference Manual
failures caused by electrical noise
EMC Noise Management DVD GMC-SP001
A road map to CE marking and safety-related control product
applications Understanding the Machinery Directive SHB-900

For declarations of conformity (DoC) currently available from http://

Rockwell Automation Rockwell Automation Product Certification website www.rockwellautomation.
com/certification/ce/docs
Published by the National
An article on wire sizes and types for grounding electrical equipment National Electrical Code Fire Protection Association
of Boston, MA.
Rockwell Automation Industrial Automation
A glossary of industrial automation terms and abbreviations Glossary AG-7.1

You can view or download publications at

http://literature.rockwellautomation.com. To order paper copies of
technical documentation, contact your local Rockwell Automation
distributor or sales representative.

Publication 2094-IN001H-EN-P — July 2006

Rockwell Automation Rockwell Automation provides technical information on the Web to assist
you in using its products. At http://support.rockwellautomation.com, you can
Support find technical manuals, a knowledge base of FAQs, technical and application
notes, sample code and links to software service packs, and a MySupport
feature that you can customize to make the best use of these tools.

For an additional level of technical phone support for installation,

configuration, and troubleshooting, we offer TechConnect Support programs.
For more information, contact your local distributor or Rockwell Automation
representative, or visit http://support.rockwellautomation.com.

Installation Assistance

If you experience a problem with a hardware module within the first 24

hours of installation, please review the information that's contained in this
manual. You can also contact a special Customer Support number for initial
help in getting your module up and running:

United States 1.440.646.3223

Monday – Friday, 8am – 5pm EST
Outside United Please contact your local Rockwell Automation representative for any
States technical support issues.

New Product Satisfaction Return

Rockwell tests all of its products to ensure that they are fully operational
when shipped from the manufacturing facility. However, if your product is
not functioning and needs to be returned:

United States Contact your distributor. You must provide a Customer Support case
number (see phone number above to obtain one) to your distributor in
order to complete the return process.
Outside United Please contact your local Rockwell Automation representative for
States return procedure.

Publication 2094-IN001H-EN-P — July 2006100 PN 313665-P08

Supersedes Publication 2094-IN001G-EN-P — September 2005 Copyright © 2006 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.