2094-IN002A-EN-P Kinetix 6000 Integration Manual - Accu Electric ...

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Kinetix 6000 Multi-Axis 

Servo Drive 

(Catalog Numbers 

2094-AC05-MP5, -AC05-M01, -AC09-M02 

-AC16-M03, -AC32-M05 

2094-BC01-MP5, -BC01-M01, -BC02-M02 

-BC04-M03, -BC07-M05 

2094-BC01-MP5-S, -BC01-M01-S, 

-BC02-M02-S, -BC04-M03-S, -BC07-M05-S 

2094-AMP5, -AM01, -AM02, -AM03, -AM05 

2094-BMP5, -BM01, -BM02, -BM03, -BM05 

2094-PRS1, -PRS2, -PRS3, -PRS4, -PRS5, 

-PRS6, -PRS7, -PRS8 

2094-PR1, -PR2, -PR4, -PR6, -PR8 

2094-PRF 

2094-AL09, -AL75S 

2094-BL02, -BL75S 

2094-XL75S-C1 

2094-XL75S-C2 

2094-BSP2) 

Integration Manual

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://www.rockwellautomation.com/literature) 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. 

IMPORTANT 

ATTENTION 

SHOCK HAZARD 

BURN HAZARD 

Identifies information that is critical for successful 

application and understanding of the product. 

Identifies information about practices or circumstances 

that can lead to personal injury or death, property 

damage, or economic loss. Attentions help you: 

• identify a hazard 

• avoid a hazard 

• recognize the consequence 

Labels may be located on or inside the equipment (e.g., 

drive or motor) to alert people that dangerous voltage may 

be present. 

Labels may be located on or inside the equipment (e.g., 

drive or motor) to alert people that surfaces may be 

dangerous temperatures. 

Allen-Bradley, A-B, ControlLogix, and Kinetix are registered trademarks of Rockwell Automation. 

DriveExplorer, RSLogix, RSLogix 5000, SoftLogix, and SCANport are trademarks of Rockwell Automation. 

Trademarks not belonging to Rockwell Automation are property of their respective companies.

Table of Contents 

Preface 

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1 

Who Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . P-1 

Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1 

Contents of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2 

Product Receiving and Storage Responsibility . . . . . . . . . . . P-2 

Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . P-3 

Conventions Used in this Manual . . . . . . . . . . . . . . . . . . . . P-4 

Chapter 1 

Commission Your Kinetix 6000 Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 

General Startup Precautions . . . . . . . . . . . . . . . . . . . . . . . . 1-1 

Understand IAM/AM Connectors . . . . . . . . . . . . . . . . . . . . 1-2 

Integrated Axis Module/Axis Module Connectors . . . . . . 1-2 

Locate IAM Connectors and Indicators . . . . . . . . . . . . . . . . 1-3 

Locate AM Connectors and Indicators . . . . . . . . . . . . . . . . . 1-4 

Understand SM Connectors . . . . . . . . . . . . . . . . . . . . . . . . 1-5 

Locate Shunt Module Connectors . . . . . . . . . . . . . . . . . 1-5 

Understand LIM Connectors and Indicators. . . . . . . . . . . . . 1-6 

Line Interface Module Connectors . . . . . . . . . . . . . . . . . 1-6 

Locate SERCOS Interface Fiber-Optic Connectors . . . . . . . . 1-9 

Configure Your Kinetix 6000 . . . . . . . . . . . . . . . . . . . . . . . 1-9 

Configure Your Integrated Axis Module. . . . . . . . . . . . 1-10 

Configure Your Axis Module(s) . . . . . . . . . . . . . . . . . . 1-15 

Configure Your Logix SERCOS interface Module . . . . . . . . 1-16 

Configure Your Logix Controller . . . . . . . . . . . . . . . . . 1-16 

Configure Your Logix Module . . . . . . . . . . . . . . . . . . . 1-17 

Configure Your Kinetix 6000 Modules . . . . . . . . . . . . . 1-19 

Configure the Motion Group . . . . . . . . . . . . . . . . . . . . 1-23 

Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . 1-24 

Download Your Program . . . . . . . . . . . . . . . . . . . . . . 1-25 

Apply Power to Your Kinetix 6000 . . . . . . . . . . . . . . . . . . 1-26 

Apply Power to Your Kinetix 6000 (with LIM) . . . . . . . 1-26 

Apply Power to Your Kinetix 6000 (without LIM). . . . . 1-30 

Test and Tune Your Axes. . . . . . . . . . . . . . . . . . . . . . . . . 1-33 

Test Your Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-33 

Tune Your Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-36 

Chapter 2 

Troubleshoot Your Kinetix 6000 Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 

General Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 

Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3 

Troubleshoot IAM/AM Status LEDs . . . . . . . . . . . . . . . . . . . 2-8 

Drive Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8 

Comm Status LED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8 

i Publication 2094-IN002E-EN-P — September 2005

ii Table of Contents 

Publication 2094-IN002E-EN-P — September 2005 

Bus Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9 

Troubleshoot SM Status LEDs . . . . . . . . . . . . . . . . . . . . . . 2-10 

General Shunt Module Troubleshooting. . . . . . . . . . . . 2-10 

Bus Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11 

Temperature Fault LED . . . . . . . . . . . . . . . . . . . . . . . . 2-11 

Shunt Fault LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11 

Troubleshoot LIM Status LEDs . . . . . . . . . . . . . . . . . . . . . 2-12 

Troubleshoot RBM Status LEDs. . . . . . . . . . . . . . . . . . . . . 2-12 

24V dc Status LED. . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12 

230V ac Auxiliary Power Status LED . . . . . . . . . . . . . . 2-13 

Troubleshoot General System Problems . . . . . . . . . . . . . . 2-14 

Understand Logix/Drive Fault Behavior. . . . . . . . . . . . . . . 2-16 

Supplemental Troubleshooting Information. . . . . . . . . . . . 2-19 

Tools for Changing Parameters . . . . . . . . . . . . . . . . . . 2-19 

Using Analog Test Points to Monitor System Variables . 2-20 

Replace Kinetix 6000 System Components. . . . . . . . . . . . . 2-22 

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22 

Remove Modules from the Power Rail. . . . . . . . . . . . . . . . 2-23 

Replace Power Rail Modules. . . . . . . . . . . . . . . . . . . . . . . 2-24 

Remove the Power Rail . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25 

Replace the Power Rail. . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26 

Remove the Line Interface Module . . . . . . . . . . . . . . . . . . 2-27 

Replace the Line Interface Module . . . . . . . . . . . . . . . . . . 2-28 

Appendix A 

Interconnect Diagrams Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1 

Kinetix 6000 Interconnect Diagram Notes . . . . . . . . . . . . . . A-1 

Power Interconnect Diagrams. . . . . . . . . . . . . . . . . . . . . . . A-3 

DC Common Bus Interconnect Diagrams . . . . . . . . . . . . . . A-8 

Shunt Module Interconnect Diagrams . . . . . . . . . . . . . . . . A-13 

1336 Active Shunt Input Fuse Specifications . . . . . . . . . A-14 

1336 Active Shunt Fault Relay Specifications . . . . . . . . A-14 

AM/Motor Interconnect Diagrams . . . . . . . . . . . . . . . . . . . A-16 

Controlling a Brake Example . . . . . . . . . . . . . . . . . . . . . . A-24 

System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . A-26 

IAM/AM Inverter Block Diagram . . . . . . . . . . . . . . . . . A-26 

IAM Converter Block Diagram. . . . . . . . . . . . . . . . . . . A-27 

Safe-Off Feature Block Diagram. . . . . . . . . . . . . . . . . . A-28 

SM Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . A-28 

LIM Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . A-29 

RBM Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . A-34

Upgrade Your Kinetix 6000 

Firmware 

Integrate Resistive Brake 

Modules 

with Kinetix 6000 Drives 

Table of Contents iii 

Appendix B 

Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1 

Upgrade Drive Firmware Using DriveExplorer . . . . . . . . . . B-1 

Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1 

Select Axis Modules to Upgrade . . . . . . . . . . . . . . . . . . B-1 

HyperTerminal Configuration . . . . . . . . . . . . . . . . . . . . B-4 

Flash Your Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . B-5 

Appendix C 

Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1 

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1 

Understand Safety Precautions . . . . . . . . . . . . . . . . . . . . . . C-2 

Safety Standards for Reference . . . . . . . . . . . . . . . . . . . C-2 

Background on Safety Design . . . . . . . . . . . . . . . . . . . . C-3 

Stop Categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-3 

Risk Assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-4 

Control Reliability. . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-5 

Resistive Brake Module Interconnect Diagram Notes . . . . . . C-5 

Resistive Brake Module Interconnect Diagrams . . . . . . . . . . C-6 

Set the RBM Delay Time Using DriveExplorer . . . . . . . . . . C-14 

Remove SERCOS Communication . . . . . . . . . . . . . . . . C-14 

Set the RBM Delay Time Parameter . . . . . . . . . . . . . . . C-15 

Save the Delay Time Parameter to Non-Volatile 

Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-16 

Reconnect SERCOS Communication . . . . . . . . . . . . . . C-17 

Appendix D 

DC Common Bus Applications Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-1 

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-1 

Calculate Total Bus Capacitance . . . . . . . . . . . . . . . . . . D-2 

Calculate Additional Bus Capacitance . . . . . . . . . . . . . . D-3 

Kinetix 6000 Capacitance Values . . . . . . . . . . . . . . . . . . D-3 

Common Bus Capacitance Example . . . . . . . . . . . . . . . D-4 

Set the Additional Bus Capacitance Parameter. . . . . . . . . . . D-5 

Remove SERCOS Communication . . . . . . . . . . . . . . . . . D-5 

Set the Additional Bus Capacitance Parameter . . . . . . . . D-6 

Save the Add Bus Cap Parameter to Non-Volatile 

Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-7 

Reconnect SERCOS Communication . . . . . . . . . . . . . . . D-8 

Publication 2094-IN002E-EN-P — September 2005

iv Table of Contents 


Introduction 

Who Should Use this 

Manual 

Purpose of this Manual 

Preface 

Read this preface to familiarize yourself with the rest of the manual. 

This preface contains the following topics: 

• Who Should Use this Manual 

• Purpose of this Manual 

• Contents of this Manual 

• Product Receiving and Storage Responsibility 

• Related Documentation 

• Conventions Used in this Manual 

This manual is intended for engineers or programmers directly 

involved in the operation, field maintenance, and integration of the 

Kinetix 6000 multi-axis servo drive with the SERCOS interface module. 

If you do not have a basic understanding of the Kinetix 6000, contact 

your local Allen-Bradley representative for information on available 

training courses before using this product. 

This manual provides the startup, configuration, and troubleshooting 

procedures for the Kinetix 6000. The purpose of this manual is to 

assist you in the integration of your Kinetix 6000 servo drive with the 

ControlLogix 1756-MxxSE SERCOS interface module or SoftLogix 

1784-PM16SE SERCOS PCI card. 

1 Publication 2094-IN002E-EN-P — September 2005

P-2 

Contents of this Manual 

Product Receiving and 

Storage Responsibility 


Refer to the following listing for the descriptive contents of this 

installation manual. 

Chapter Title Contents 

Preface 

Chapter 1 Commission Your Kinetix 6000 

Chapter 2 Troubleshoot Your Kinetix 6000 

Appendix A Interconnect Diagrams 

Appendix B 

Appendix C 

Upgrade Your Kinetix 6000 

Firmware 

Integrate Resistive Brake 

Modules with Kinetix 6000 

Drives 

Appendix D DC Common Bus Applications 

You, the customer, are responsible for thoroughly inspecting the 

equipment before accepting the shipment from the freight company. 

Check the item(s) you receive against your purchase order. If any 

items are obviously damaged, it is your responsibility to refuse 

delivery until the freight agent has noted the damage on the freight 

bill. Should you discover any concealed damage during unpacking, 

you are responsible for notifying the freight agent. Leave the shipping 

container intact and request that the freight agent make a visual 

inspection of the equipment. 

Store the product in its shipping container prior to installation. If you 

are not going to use the equipment for a period of time, store using 

the following guidelines. 

• Use a clean, dry location 

• Maintain an ambient temperature range of -40 to 70° C 

(-40 to 158° F) 

• Maintain a relative humidity range of 5% to 95%, non-condensing 

• Store it where it cannot be exposed to a corrosive atmosphere 

• Store it in a non-construction area 

Describes the purpose, background, and scope of 

this manual. Also specifies the audience for 

whom this manual is intended. 

Provides steps to follow when configuring your 

Kinetix 6000, the Logix SERCOS interface 

module, and when applying power to the Kinetix 

6000 for the first time. 

Provides diagnostic aids that help isolate 

problems with your drive and Kinetix 6000 

removal/replacement procedures. 

Provides interconnect diagrams between the 

Kinetix 6000 and the Line Interface Module, 

Shunt Module, Resistive Brake Module and 

servo motors. 

Provides steps to follow when you need to 

upgrade (flash) your IAM and AM firmware. 

Provides safety precautions, interconnect 

diagrams, and procedures specific to configuring 

the RBM with the Kinetix 6000. 

Explains how to calculate capacitance values 

and set the Add Bus Cap parameter for DC 

common bus applications.

Related Documentation 

The following documents contain additional information concerning 

related Allen-Bradley products. To obtain a copy, contact your local 

Allen-Bradley office, distributor, or download them from 

www.rockwellautomation.com/literature. 

For Read This Document Catalog Number 

The instructions needed for the installation and wiring of the Kinetix 

6000 

Kinetix 6000 Installation Manual 2094-IN001 

Installation instructions for the LIM and removal/replacement 

procedures for selected internal LIM components 

Information on wiring and troubleshooting your Kinetix 6000 safety 

drive 

A description and specifications for the 2094 family including motors 

and motor accessories 

Kinetix 6000 Line Interface Module Installation 

Instructions 

2094-IN005 

Kinetix Safe-Off Feature Safety Reference Manual GMC-RM002 

Kinetix Motion Control Selection Guide GMC-SG001 

Drive and motor sizing with application analysis software 

Motion Analyzer CD 

(v4.1 or above) 

PST-SG003 

Kinetix 6000 user documentation and CAD files Kinetix 6000 User Documentation and CAD Files CD 2094-CL001 

More detailed information on the use of ControlLogix motion features 

and application examples 

ControlLogix Motion Module Programming Manual 1756-RM086 

ControlLogix SERCOS interface module installation instructions SERCOS interface Module Installation Instructions 1756-IN572 

SoftLogix SERCOS interface PCI card installation instructions 

The instructions needed to program a motion application 

Information on configuring and troubleshooting your ControlLogix 

SERCOS and analog motion modules 

Information on configuring and troubleshooting your SoftLogix PCI 

card 

Information on the installation and wiring of Bulletin 2090 Resistive 

Brake Modules 

Information on proper handling, installing, testing, and 

troubleshooting fiber-optic cables 

Information, examples, and techniques designed to minimize system 

failures caused by electrical noise 

For declarations of conformity (DoC) currently available from Rockwell 

Automation 

16 Axis PCI SERCOS interface Card Installation 

Instructions 

Logix5000 Controllers Motion Instructions 

Reference Manual 

1784-IN041 

1756-RM007 

Logix5000 Motion Modules User Manual 1756-UM006 

SoftLogix Motion Card Setup and Configuration 


1784-UM003 

Resistive Brake Module Installation Instructions 2090-IN009 

Fiber-Optic Cable Installation and Handling 

Instructions 

2090-IN010 

System Design for Control of Electrical Noise GMC-RM001 

Rockwell Automation Product Certification website www.ab.com/ 

certification/ce/docs 

An article on wire sizes and types for grounding electrical equipment National Electrical Code 

Published by the National 

Fire Protection Association 

of Boston, MA. 

A glossary of industrial automation terms and abbreviations Allen-Bradley Industrial Automation Glossary AG-7.1 

P-3 


P-4 

Conventions Used in this 



The following conventions are used throughout this manual. 

• Bulleted lists such as this one provide information, not procedural 

steps 

• Numbered lists provide sequential steps or hierarchical 

information 

• Words that you type or select appear in bold 

• When we refer you to another location, the section or chapter 

name appears in italics 

• Acronyms for the Kinetix 6000 components, shown in the table 

below, are used throughout this manual. 

Kinetix 6000 Component Catalog Numbers Acronym 

Power Rail 2094-PRx PR 

Power Rail (slim) 2094-PRSx PRS 

Power Rail Slot Filler 2094-PRF PRF 

Integrated Axis Module 2094-xCxx-Mxx IAM 

Axis Module 2094-xMxx AM 

Line Interface Module 2094-xLxx and -xLxxS-xx LIM 

Shunt Module 2094-BSP2 SM 

Resistive Brake Module 2090-XBxx-xx RBM

Chapter Objectives 

General Startup 

Precautions 

Commission Your Kinetix 6000 

Chapter 1 

This chapter provides you with information to apply power and 

configure your Kinetix 6000. This chapter includes: 

• General Startup Precautions 

• Understand IAM/AM/SM and LIM Connectors 

• Locate Connectors and Indicators 

• Locate SERCOS Interface Fiber-Optic Connectors 

• Configure Your Kinetix 6000 

• Configure Your Logix SERCOS interface Module 

• Apply Power to Your Kinetix 6000 

• Test and Tune Your Axes 

Note: Some of the procedures in this chapter include information 

regarding integration with other products. 

The following precautions pertain to all of the procedures in this 

chapter. Be sure to read and thoroughly understand them before 

proceeding. 



This product contains stored energy devices. To 

avoid hazard of electrical shock, verify that all 

voltages on the system bus network have been 

discharged before attempting to service, repair or 

remove this unit. Only qualified personnel familiar 

with solid state control equipment and safety 

procedures in publication NFPA 70E or applicable 

local codes should attempt this procedure. 

This drive contains ESD (Electrostatic Discharge) 

sensitive parts and assemblies. You are required to 

follow static control precautions when you install, 

test, service, or repair this assembly. If you do not 

follow ESD control procedures, components can be 

damaged. If you are not familiar with static control 

procedures, refer to Allen-Bradley publication 

8000-4.5.2, Guarding Against Electrostatic Damage 

or any other applicable ESD Protection Handbook. 


1-2 Commission Your Kinetix 6000 

Understand IAM/AM 

Connectors 


The following table provides a brief description of the Kinetix 6000 

IAM/AM connectors. 

Integrated Axis Module/Axis Module Connectors 

Designator Description Connector 

Present on 

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 (male) IAM/AM 

AF Auxiliary Feedback 15-pin high-density D-shell (female) IAM/AM 

CPD Control Input Power (drive) 2-position connector housing IAM 

IPD 

DC Bus and VAC Input Power (drive) 

230V 

DC Bus and VAC Input Power (drive) 

460V 

6-position connector housing 

6-position connector housing 

IAM 

IAM 

CED Contactor Enable 2-position connector housing IAM 

MP Motor Power 4-position connector housing IAM/AM 

BC Resistive/Motor Brake 6-position connector housing 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

Locate IAM Connectors and 

Indicators 

Integrated Axis Module, top view 

(2094-BM01-MP5-S is shown) 

Control Power 

(CPD) Connector 

DC Bus / AC Input Power 

(IPD) Connector 

Contactor Enable 

(CED) Connector 

Safe-Off 

(SO) Connector 

(present only on the 2094-BCxx-Mxx-S) 

Integrated Axis Module, front view 

(2094-AC05-M01 is shown) 

I/O (IOD) Connector 

Mounting Screw 

Commission Your Kinetix 6000 1-3 

Use the figure below to locate the Integrated Axis Module connectors 

and indicators. Although the physical size of the 2094-BCxx-Mxx 

(460V) IAM is larger than the 2094-ACxx-Mxx (230V) IAM, the location 

of the connectors and indicators is identical. 

Figure 1.1 

Kinetix 6000 Integrated Axis Modules (2094-ACxx-Mxx and -BCxx-Mxx) 

1 2 1 2 3 4 5 6 1 2 

CTRL 2 

CTRL 1 

DC- 

DC+ 

L3 

L2 

L1 

CONT EN- 

CONT EN+ 

Motor Cable 

Shield Clamp 

RX 

1 2 3 4 5 6 7 8 9 

DPI 

W 

V 

U 

MBRK - 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 

1 2 3 4 

1 2 3 4 5 6 

TX 

BAUD 

RATE 

Motor Power 

(MP) Connector 

Motor/Resistive Brake 

(BC) Connector 

SERCOS Baud Rate 

and Optical Power Switches 

SERCOS Transmit (Tx) Connector 

DPI Connector 

SERCOS Receive (Rx) Connector 

SERCOS 

Node Address Switch 

Seven Segment 

Fault Status LED 

Drive Status LED 

COMM Status LED 

Bus Status LED 

Auxiliary Feedback (AF) Connector 

Motor Feedback (MF) Connector 

Note: Power, feedback, and I/O connectors are shown, however for 

wiring information, refer to the Kinetix 6000 Multi-Axis Servo 

Drive Installation Manual (publication 2094-IN001). 



Locate AM Connectors and 

Indicators 

Axis Module, top view 

(2094-BMP5-S is shown) 

Safe-Off 

(SO) Connector 

(present only on the 2094-BMxx-S) 

Axis Module, front view 

(2094-AM01 is shown) 

I/O (IOD) Connector 



Use the figure below to locate the Axis Module connectors and 

indicators. Although the physical size of the 2094-BMxx (460V) AM is 

larger than the 2094-AMxx (230V) AM, the location of the connectors 

and indicators is identical. 

Figure 1.2 

Kinetix 6000 Axis Modules (2094-AMxx and -BMxx) 

Motor Cable 

Shield Clamp 

RX 

1 2 3 4 5 6 7 8 9 

W 

V 

U 

MBRK - 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 

1 2 3 4 

1 2 3 4 5 6 

TX 

BAUD 

RATE 

Motor Power 


Motor/Resistive Brake 

(BC) Connector 

SERCOS Transmit (Tx) Connector 

SERCOS Receive (Rx) Connector 

Seven Segment 

Fault Status LED 




COMM Status LED 


Auxiliary Feedback (AF) Connector 

Motor Feedback (MF) Connector 

Note: Power, feedback, and I/O connectors are shown, however for 

wiring information, refer to the Kinetix 6000 Multi-Axis Servo 

Drive Installation Manual (publication 2094-IN001).

Understand SM Connectors 

Motor Cable 

Shield Clamp 

COL 

INT 

DC+ 

TS2 

TS1 

1 2 3 

1 2 


Use the table below and Figure 1.3 to locate the Shunt Module 

connectors and indicators. 

Locate Shunt Module Connectors 


RC External Shunt Resistor Connector 3-position connector housing 

TS External Thermal Switch Connector 2-position connector housing 

Figure 1.3 

Kinetix 6000 Shunt Modules (2094-BSP2) 

Shunt Module, top view 

External Shunt Resistor 

(RC) Connector 

External Thermal Switch 

(TS) Connector 


Shunt Module, front view 

Shunt Fault LED 

Over-Temp Fault LED 


Note: Power connectors are shown, however for wiring information, 

refer to the Kinetix 6000 Multi-Axis Servo Drive Installation 

Manual (publication 2094-IN001). 



Understand LIM Connectors 

and Indicators 


Use the tables below and figures 1.4 and 1.5 to locate the Line 

Interface Module connectors. 

Line Interface Module Connectors 

The following table describes the Line Interface Module connectors 

used with catalog numbers 2094-AL75S, -BL75S, and -XL75S-Cx. 


IOL Status I/O (LIM) 21-pin (plugable) terminal block 

IPL VAC LINE Input Power (LIM) 4-position plug/header 

OPL VAC LOAD Output Power 4-position plug/header 

P1L Brake and I/O Power Output (24V dc) 6-position plug/header 

P2L Auxiliary Power Output (230V ac) 4-position plug/header 

CPL Control Power Output (LIM) 2-position plug/header 

APL 1 

Auxiliary Power Input (LIM) 2-position plug/header 

1 Auxiliary Power Input (APL) connector is only present on the 2094-XL75S-Cx model. 

The following table describes the Line Interface Module connectors 

used with catalog numbers 2094-AL09 and -BL02. 


IOL Status I/O (LIM) 26-pin high-density D-shell 

IPL VAC LINE Input Power (LIM) 4-position terminals 

OPL VAC LOAD Output Power 4-position terminals 

PSL Brake and I/O Power Output (24V dc) 4-position plug/header 

CPL Control Power Output (LIM) 2-position plug/header

VAC Line 

(IPL) Connector 

Brake Power Status LED 

I/O Power Status LED 

I/O (IOL) Connector 

195-264 VAC LINE 

50/60 Hz 


Use the figure below to locate the Line Interface Module connectors 

and indicators. 

Figure 1.4 

Kinetix 6000 Line Interface Modules (2094-AL09 and -BL02) 

1 2 3 4 

PE 

L3 

L2 

L1 

MAIN VAC AUX VAC BRAKE - I/O VAC 

CB1 CB2 

Main 

VAC 

Control/AUX 

VAC 

CB3 

Brake - I/O 

VAC 

MBRK PWR 

MBRK COM 

MBRK PWR 

MBRK COM 

4 3 2 1 

24 VDC BRAKE SUPPLY 

1 

PE 

1 

L3 

1 

L2 

1 

L1 

L1 

L2/N 

1 2 3 4 1 2 

230 VAC LOAD 

195-264 VAC LOAD 

50/60 Hz 

Line Interface Module 2094-AL09 

200/230V AC 20A Output 

Line Interface Module, 

top view 

(2094-AL09 is shown) 

Control Power Load 

(CPL) Connector 

VAC Load 

(OPL) Connector 

24 VDC Brake Power (PSL) Connector 

Line Interface Module, 

front view 

(2094-AL09 is shown) 



Auxiliary Power Input 

(APL) Connector 1 

VAC Line 


VAC Load 


Main VAC 

L1 

L2N 


195-265 VAC LINE, 50/60 Hz 

195-265 VAC LOAD, 50/60 Hz 

L3 

L2 

L1 

L3' 

L2' 

L1' 

1 2 

1 2 3 4 1 2 3 4 

CB3 

Brake-I/O 

VAC 

ON 

Fuse 

Block 

MAIN VAC 

Use the figure below to locate the Line Interface Module connectors 

and indicators. 

Figure 1.5 

Kinetix 6000 Line Interface Modules (2094-AL75S, -BL75S, and -XL75S-Cx) 

CB1 

OFF 

CB2 

Control/AUX 

VAC 

CTRL2 

CTRL1 

AUX2 

AUX2 

AUX1 

AUX1 

1 2 

1 2 3 4 

I/O_COM 

I/O_PWR 

I/O_COM 

I/O_PWR 

I/O_COM 

I/O_PWR 

1 2 3 4 5 6 

1 Auxiliary Power Input (APL) connector is only present on the 2094-XL75S-Cx model. 

CONTROL VAC 

230 VAC SUPPLY 

24 VDC SUPPLY 

Control Power Output (CPL) Connector 

230V ac Auxiliary Power Output (P2L) Connector 

24V dc Brake Power Output (P1L) Connector 

Line Interface Module, top view 

(2094-XL75S-Cx is shown) 

I/O Power 

Status LED 

I/O (IOL) Connector 

Line Interface Module, front view 

(2094-XL75S-Cx is shown) 

IOL Connector 

(as viewed from side)

Locate SERCOS Interface 

Fiber-Optic Connectors 

Front View 

Bottom View 

SERCOS interface TM 

CP 

OK 

Tx (rear) 

Rx (front) 

ControlLogix 

1756-MxxSE SERCOS 

interface Module 

SERCOS Receive Connector, Rx (front) 

SERCOS Transmit Connector, Tx (rear) 

Configure Your Kinetix 6000 


Use the figure below to locate the SERCOS interface fiber-optic 

connectors. The fiber-optic ring is connected using the SERCOS 

Receive and Transmit connectors. 

Note: Plastic cable is available in lengths up to 32 m (105.0 ft). Glass 

cable is available in lengths up to 200 m (656.7 ft). 

Figure 1.6 

ControlLogix and SoftLogix SERCOS Connector Locations 

RSLogix 5000 

These procedures assume you have completed mounting, wiring, and 

connecting your SERCOS interface module and Kinetix 6000 drive as 

described in the Kinetix 6000 Multi-Axis Servo Drive Installation 

Manual (publication 2094-IN001). 

The procedures in this section apply to Kinetix 6000 drive 

components and describe how to: 

• Configure your Kinetix 6000 IAM and AM(s) 

• Configure your SERCOS interface module using RSLogix 5000 

software 

• Download your program to your Logix controller 

• Apply power to your Kinetix 6000 drive components 

• Test and tune your motor using RSLogix 5000 software 

These procedures assume you have connected the fiber optic cables 

between your IAM (2094-xCxx-Mxx, inverter section), axis modules 

(2094-xMxx), and the ControlLogix chassis with 1756-MxxSE interface 

module or personal computer with 1784-PM16SE PCI card. 

C 

9AB 

E 

0 

DF 

8 

1 

2 

3 

6 7 

TX 

RX 

4 

5 

OK 

CP 

SoftLogix 

1784-PM16SE SERCOS interface PCI Card 

(as viewed from the back of your PC) 

SERCOS Transmit Connector, Tx 

SERCOS Receive Connector, Rx 




Configure Your Integrated Axis Module 

To configure your IAM: 

1. Verify that there is no power applied to the IAM 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 Multi-Axis Servo Drive Installation Manual 

(publication 2094-IN001). 

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 

below for switch operation. Refer to for switch location. 

To Press 

Increment the (MSD/LSD) node address The plus (+) switch. 

Decrement the (MSD/LSD) node address The minus (-) switch. 

Figure 1.7 

Setting the Base Address Switches 

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 

IMPORTANT 

Decrements MSD 

MSD 

Increments MSD 

Decrements LSD 

LSD 

Increments LSD 

After setting the base node address, always cycle 

control power to initialize the IAM. 

When two or more IAMs are connected to the 

same SERCOS interface module, each node 

address must be unique. 

Refer to figures 1.9, 1.10, and 1.11 for examples 

of how node addresses are assigned.

Kinetix 6000 

System 1 

(6-axis power rail) 

Transmit 

Receive 


CP OK 

Tx (rear) 

Rx (front) 


Refer to Figure 1.8 for an example of the fiber-optic ring connections 

between the Kinetix 6000 drive(s) and the SoftLogix PCI card. 

Although Figure 1.8 only illustrates the SERCOS fiber-optic ring with 

the SoftLogix PCI card, node addressing for SoftLogix is done the 

same way as shown in the three ControlLogix examples. 

Figure 1.8 

Fiber-Optic Ring Connection 

Transmit 

Receive 


C 

9AB 

E 

D 

F 

0 

8 

1 

3 

6 7 

2 

TX 

RX 

4 

5 

OK 

CP 

SoftLogix 

1784-PM16SE SERCOS 

interface PCI Card 

Receive Transmit 

Figure 1.9 

Node Addressing Example 1 



Receive 

ControlLogix Chassis 

SERCOS Fiber-Optic ring 

Transmit 

Receive 

SERCOS fiber-optic ring 

15 = Slot Filler node address 

14 = Shunt Module node address 

13 = AM (axis 4) node address 



10 = IAM (axis 1) base node address 


Transmit 

Receive 


System 2 


Transmit 



In the example above, 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 slots 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. 





Transmit 

Receive 



CP OK 

Tx (rear) 

Rx (front) 

IMPORTANT 

Figure 1.10 



interface Module 1 

Receive 


SERCOS Fiber-Optic rings 

Transmit 

Receive 

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. 

Transmit 


CP OK 

Tx (rear) 

Rx (front) 

Transmit Receive 


interface Module 2 










In the example above, SERCOS interface module 1 controls axes 

1 to 4 and module 2 controls axes 5 to 7. The slot filler module is 

assigned a node address, but does not use it. 

Note: You can mount the two SERCOS interface modules in two 

separate ControlLogix chassis (as shown above) or you can 

mount them in the same chassis. 

Utilizing two SERCOS interface modules to control axes 

from a single Kinetix 6000 power rail allows you to reduce 

the cycle times. 

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.



Transmit 

Receive 

Figure 1.11 



CP OK 

Tx (rear) 

Rx (front) 



Receive 


SERCOS Fiber-Optic ring 

Transmit 




06 = Not Used (AM right most slot) 


04 = Not Used (AM right most slot) 


02 = Not Used (IAM right most slot) 


In the example above, 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 left-most slot of a double-wide module determines the node 

address. So, in the example above, node addresses 02, 04, and 06 

(the right-most 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. 



Integrated Axis Module, top view 

(2094-ACxx-Mxx) 


3. Set the SERCOS baud rate using DIP switches 2 and 3, as shown in 

Figure 1.12. Refer to the table below for baud rate switch settings. 

For this baud rate Set switch 2 Set switch 3 

4M baud OFF ON 

8M baud ON OFF 

4. Set the SERCOS optical power level to High using DIP switch 1, as 

shown in Figure 1.12. Refer to the table below for optical power 

level switch setting. 

For this optical power level Set switch 1 

Low OFF 

High ON 

Figure 1.12 

SERCOS Baud Rate and Optical Power DIP Switches 

Switch in OFF position 



ON 

OFF 

DIP switches set for 

4M baud applications 

(high power setting) 

1 2 3 

ON 

OFF 

Note: Switch numbers as seen on the IAM 

are upside down in this orientation. 

DIP switches set for 

8M baud applications 

(high power setting) 

1 2 3 

Switch numbers shown above Switch are in ON position 

turned around for clarity.

Configure Your Axis Module(s) 


This procedure assumes you have configured your IAM. Use the 

following procedure to configure your axis module(s). In this 

procedure you will set the baud rate and optical power level switches 

for your IAM and each AM. 

IMPORTANT 

The node address for each axis module is 

determined by the base node address switch setting 

on the IAM. Refer to Figure 1.9. 

To configure your Axis Module(s): 

1. Verify that there is no power applied to the IAM 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 Multi-Axis Servo Drive Installation Manual 

(publication 2094-IN001). 

2. Set the SERCOS baud rate using DIP switches 2 and 3, as shown in 

Figure 1.12 (page 1-14). Refer to the table below for the baud rate 

switch settings. 

For this baud rate Set switch 2 Set switch 3 

4M baud OFF ON 

8M baud ON OFF 

3. Set the optical power level to High using DIP switch 1, as shown 

in Figure 1.12. Refer to the table below for optical power level 

switch setting. 

For this optical power level Set switch 1 

Low OFF 

High ON 



Configure Your Logix 

SERCOS interface Module 


This procedure assumes that you have wired your Kinetix 6000 system 

and have configured the Kinetix 6000 baud rate and optical power 

switches. 

IMPORTANT 

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

ControlLogix and SoftLogix modules, refer to the table below for the 

appropriate publication. 

If you have already configured your Logix module using one of the 

setup and configuration manuals listed above, go directly to Apply 

Power to Your Kinetix 6000 (page 1-26). If not, go to Configure Your 

Logix Controller beginning below. 

Configure Your Logix Controller 

To configure your Logix controller: 

1. Apply power to your Logix chassis/PC containing the SERCOS 

interface module and open your RSLogix 5000 software. 

2. Select New in the File menu. The New Controller window opens. 

• Select controller type 

• Select RSLogix 5000 revision 

• Name the file 

• Select the Logix chassis size 

• Select the Logix processor slot 

3. Select OK. 

In order for the Kinetix 6000 to communicate with 

the SERCOS interface module (indicated by the three 

LEDs on the module going solid green), your 

RSLogix 5000 software must be version 11.0 or 

above. 

For Refer to this Document Publication Number 

Detailed information on configuring and 

troubleshooting your ControlLogix motion module 


troubleshooting your SoftLogix PCI card 

Logix5000 Motion Modules User 


SoftLogix Motion Card Setup and 

Configuration Manual 

1756-UM006 

1784-UM003 

4. Select Controller Properties in the edit menu. The Controller 

Properties window opens.

5. Select the Date and Time tab. 


6. Check the box Make this controller the Coordinated System 

Time master. 

IMPORTANT 

7. Select OK. 

Configure Your Logix Module 

To configure your Logix module: 

Only one ControlLogix processor can be 

assigned as the Coordinated System Time master. 

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

select New Module. The Select Module window opens. 

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

-L60M03SE, or 1784-PM16SE as appropriate for your actual 

hardware configuration. 




3. Select OK. The New Module window opens. Your new module 

appears under the I/O Configuration folder in the explorer 

window. 

• Name the module 

• Select the slot where your module resides (left most slot = 0) 

• Select an Electronic Keying option (select Disable Keying if 

unsure) 

• Check the box Open Module Properties. 

4. Select OK. The Module Properties window opens. 

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

Logix SERCOS Module Number of Axes Data Rate 

1756-M03SE or 

1756-L60M03SE 

up to 3 

1756-M08SE up to 8 

4 or 8 Mbits/s 

1756-M16SE or 

1784-PM16SE 

up to 16


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

• Ensure the Data Rate setting matches DIP switches 2 and 3 

(baud rate) as set on the IAM and AM(s), or use the Auto 

Detect setting. 

• Set the Cycle Time according to the table below. 

Data Rate Number of Axes Cycle Time 

4 Mbits/s 

8 Mbits/s 

Note: The number of axes/module is limited to the number of 

axes as shown in step 5. 

• Ensure the Optical Power setting (high or low) matches DIP 

switch 1 as set on the IAM and AM(s). 

• Transition to Phase default setting is 4 (phase 4). The 

Transition to Phase setting will stop the ring in the phase 

specified. 

7. Select OK. 

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

Configure Your Kinetix 6000 Modules 

To configure your Kinetix 6000 modules: 

up to 2 0.5 ms 

up to 4 1 ms 

up to 8 2 ms 

No support for axes 9 to 16 

up to 4 0.5 ms 

up to 8 1 ms 

up to 16 2 ms 

1. Right-click on the new Logix module you just created and select 

New Module. The Select Module window opens. 

2. Select your 2094-xCxx-Mxx (IAM) or 2094-xMxx (AM) as 

appropriate for your actual hardware configuration. 




3. Select OK. The Module Properties window opens. 

• Name the module 

• Set the Node address 

Note: Set node address in the software to match the node 

setting on the drive. Refer to Configure Your Integrated 

Axis Module, step 2, on page 1-10. 

• Select an Electronic Keying option 

• Check the box Open Module Properties 

4. Select OK. 

5. Select the Associated Axes tab. 

6. Select the New Axis button. The New Tag window opens. 

• Name the axis 

• Select AXIS_SERVO_DRIVE as the Data Type 

7. Select OK. The axis appears under the Ungrouped Axes folder in 

the explorer window. 

8. Assign your axis to the node address (as shown in the window 

below).


With drive firmware version 1.80 (or above) and RSLogix 5000 

software version 13 (or above), 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 page is set 

to Feedback Only (as shown below). 

9. Select OK. 

10. Select the Power tab. 




11. 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 option 

Then select 

Configured as an IAM or 

Leader IAM (common bus) 1 

Internal shunts only Internal or 

Bulletin 2094 (rail mounted) shunt module 

Bulletin 1394 passive shunt module 

(connected to the 2094-BSP2) 

2094-BSP2 

1394-SRxxxx 

Bulletin 1336 active shunt module Internal or 

Configured as a Follower IAM 2 N/A. Shunts are disabled on Follower IAM CommonBus Follow 

1 

Drive will not accept Internal, , 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. 


IMPORTANT 

IMPORTANT 

12. Select OK. 

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 the Kinetix 6000 Multi-Axis Servo Drive 

Installation Instructions (publication 2094-IN001) 

for fuse specifications. 

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. 

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 

Appendix D for the procedures. 

13. Repeat steps 1-9 for each 2094-xMxx Axis Module (AM).

Configure the Motion Group 

To configure the motion group: 


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

Motion Group. The New Tag window opens. 

2. Name the new motion group. 

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

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

Motion Group Properties window 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. Select OK. 




Configure Axis Properties 

To configure axis properties: 

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

Properties. The Axis Properties window opens. 

2. Select the Drive/Motor tab. 

• Set the Kinetix 6000 Amplifier (2094-xCxx-Mxx) 

• Set the Motor Catalog Number 

• Set Loop Configuration to Position Servo 

• Drive Enable Input Checking, when checked (default), means 

a hard drive enable input signal is required. Uncheck to 

remove that requirement. 

Note: 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. Select the Units tab and edit default values as appropriate for your 

application. 

5. Select the Conversion tab and edit default values as appropriate 

for your application.


6. Select the Fault Actions tab and click on the Set Custom Stop 

Action... tab. The Custom Stop Action Attributes window opens. 

The Custom Stop Action Attributes window allows you to set 

delay times for servo motors and resistive brake modules. For 

recommended motor brake delay times, refer to the Kinetix 

Motion Control Selection Guide (publication GMC-SG001). 

• Set the Brake Engage Delay Time 

• Set the Brake Release Delay Time 

• Set the Resistive Brake Contact Delay time (0 - 1000 ms range) 

Note: The recommended delay time for 2090-XB33-xx and 

-XB120-xx resistive brake modules is 71 ms. 

Note: If you are using RSLogix 5000 v12 or lower, refer to Set the 

RBM Delay Time Using DriveExplorer on page C-14. 

• Select Close 

7. Select OK. 

8. Repeat steps 1-7 for each axis module. 

9. Verify your Logix program and save the file. 

Download Your Program 

After completing the Logix configuration you must download your 

program to the Logix processor. 



Apply Power to Your 



Use the table below to determine where to begin applying power to 

your Kinetix 6000. 

If your Kinetix 6000 system Then 

Includes a (2094-xLxx or -xLxxS-xx) LIM 

Does not include a (2094-xLxx or -xLxxS-xx) LIM 


Apply Power to Your Kinetix 6000 (with LIM) 

This procedure assumes that you have wired and configured your 

Kinetix 6000 (including the LIM) and your SERCOS interface module. 

IMPORTANT 

To apply power to your Kinetix 6000 system: 

1. Ensure CB1, CB2, and CB3 on the LIM are in the OFF position 

(refer to figures 1.4 and 1.5 for the location of the CB1, CB2, and 

CB3). 

2. Disconnect the load to the motor(s). 


3. Apply three-phase input power to the LIM VAC Line connector. 

4. Set CB3 on the LIM to the ON position. 

Go to Apply Power to Your Kinetix 6000 (with 

LIM) 

Go to Apply Power to Your Kinetix 6000 (without 

LIM) 

To avoid hazard of electrical shock, perform all 

mounting and wiring of IAM, AM, SM, LIM, RBM, or 

power rail prior to applying power. Once power is 

applied, connector terminals may have voltage 

present even when not in use. 

Follow this procedure if your Kinetix 6000 system 

includes a Line Interface Module (LIM). 

To avoid personal injury or damage to 

equipment, disconnect the load to the motor(s). 

Ensure each motor is free of all linkages when 

initially applying power to the system.


5. Observe the Brake Power Status LED on the LIM (2094-xLxx only). 

Refer to Figure 1.4 for the location of the Brake Power Status LED. 

If the Brake Power Status 

LED is 

Status Do This 

Solid green Brake power is ready Go to step 6. 

Not solid green Brake power fault 

6. Observe the I/O Power Status LED on the LIM. Refer to Figure 1.4 

(2094-xLxx) or Figure 1.5 (2094-xLxxS-xx) for the location of the 

I/O Power Status LED. 

If the I/O Power Status 

LED is 

Status Do This 

Solid green I/O power is ready Go to step 7. 

Not solid green I/O power fault 



Go to Troubleshoot LIM Status LEDs 

on page 2-12. 

Go to Troubleshoot LIM Status LEDs 

on page 2-12. 

9. Verify the Hardware Enable Input signal (IOD pin 2) for each axis 

is at 0 volts. 

If the Hardware Enable 

Input signal is 

Then 

0 volts Go to step 10. 

24 volts 

1. Remove connection 

between IOD-1 and IOD-2. 

2. Go to step 10. 




10. Observe the IAM/AM front panel logic power LED as shown in the 

figure below. 

Figure 1.13 

Logic Power and Status LED Display 

Seven Segment Fault Status LED 

If the Logic Power LED 

is 

Then 

ON Go to step 11. 

Not ON 

Logic Power LED 

1. Check your control power 

connections. 

2. Repeat step 10. 

11. Observe the IAM/AM front panel seven segment status LED 

display as shown in Figure 1.13. 

Note: The seven segment LED will first flash the SERCOS node 

address, then cycle through phases until final configuration 

(phase 4) is reached. 

If Is Status Do This 

The seven segment 

status LED on your 

2094-xCxx-Mxx IAM 

or 

2094-xMxx AM 

Actively cycling 

(phase 0) 

Displaying a fixed 1 

(phase 1) 


(phase 2) 


(phase 3) 


(phase 4) 

Flashing an E 

followed by two 

numbers 

The drive is looking for a closed SERCOS 

ring. Wait for phase 1 or take corrective 

action until you reach phase 1. 

The drive is looking for active nodes. 

Wait for phase 2 or take corrective action 

until you reach phase 2. 

The drive is configuring nodes for 

communication. Wait for phase 3 or take 

corrective action until you reach phase 3. 

The drive is configuring device specific 

parameters. Wait for phase 4 or take 


Check fiber-optic 

connections. 

Check node 

addressing. 

Check program 

motor and drive 

configuration 

against installed 

hardware. 

Check motor 

catalog number 

against selection. 1 

The drive is configured and active. Go to step 12. 

Drive is faulted. 

Go to Error Codes 

on page 2-3. 

1 You can get diagnostic information from the module by highlighting the module name in RSLogix 5000. A Pseudo 

Key Failure often indicates that the motor selection does not match the motor installed.

12. Observe the Drive Status LED. 

If the Drive Status LED is Status Do This 

Off Normal condition Go to step 13. 

Steady red Drive is faulted 

13. Observe the Comm Status LED. 

If the Comm Status LED is Status Do This 

14. Observe the Bus Status LED. 


Go to Troubleshoot IAM/AM Status 

LEDs on page 2-8. 

Flashing green 

Establishing communication 

with network 

Wait for steady green. 

Steady green Communication is ready Go to step 14. 

Off No ring present 

If the Bus Status LED is Status Do This 

Steady green 

Flashing green 1 

Axis is enabled when status 

should be disabled 

Bus is up, axis is disabled 

(normal status) 

Off DC bus is not present 



1. Verify Hardware Enable Input 

(IOD-2) is open. 

2. Verify MSO instruction is not 

commanded in RSLogix 5000. 

3. Return to Apply Power to Your 

Kinetix 6000 (with LIM) on 

page 1-26. 

Go to step 15. 



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. 

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

If the three SERCOS LEDs are 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 Your Axes. 

Not flashing green and red/ 

not steady green 

SERCOS module is faulted 

Go to the appropriate Logix 

motion module setup and 

configuration manual for specific 

instructions and troubleshooting. 




Apply Power to Your Kinetix 6000 (without LIM) 

This procedure assumes that you have wired and configured your 

Kinetix 6000 and SERCOS interface module. 

IMPORTANT 

To apply power to your Kinetix 6000 system: 

1. Disconnect the load to the motor(s). 


2. Apply (95-264V ac) control power to the IAM (CPD connector) 

and observe the logic power LED as shown in the figure below. 

Figure 1.14 

Logic Power and Status LED Display 

Seven Segment Fault Status LED 

Follow this procedure if your Kinetix 6000 system 

does not include a Line Interface Module (LIM). 


equipment, disconnect the load to the motor(s). 

Ensure each motor is free of all linkages when 

initially applying power to the system. 

Logic Power LED 

If the Logic Power LED 

is 

Then 

ON Go to main step 3. 

Not ON 

1. Check your control power 

connections. 

2. Repeat main step 2. 

Note: The seven segment LED will first flash the SERCOS node 

address, then cycle through phases until final configuration 

(phase 4) is reached.


3. Apply 195-265V ac (230V) or 324-528V ac (460V) input power to 

the IAM (IPD connector) and observe the front panel seven 

segment Status LED display as shown in Figure 1.14. 

If Is Status Do This 

The seven segment 

status LED on your 

2094-xCxx-Mxx IAM 

or 

2094-xMxx AM 

Actively cycling 

(phase 0) 


(phase 1) 


(phase 2) 


(phase 3) 


(phase 4) 

Flashing an E 

followed by two 

numbers 

The drive is looking for a closed SERCOS 

ring. Wait for phase 1 or take corrective 

action until you reach phase 1. 

The drive is looking for active nodes. 

Wait for phase 2 or take corrective action 

until you reach phase 2. 

The drive is configuring nodes for 

communication. Wait for phase 3 or take 


The drive is configuring device specific 

parameters. Wait for phase 4 or take 


1 You can get diagnostic information from the module by highlighting the module name in RSLogix 5000. A Pseudo 

Key Failure often indicates that the motor selection does not match the motor installed. 

4. Observe the Drive Status LED. 

5. Observe the Comm Status LED. 

Check fiber-optic 

connections. 

Check node 

addressing. 

Check program 

motor and drive 

configuration 

against installed 

hardware. 

Check motor 

catalog number 

against selection. 1 

The drive is configured and active Go to step 4. 

Drive is faulted 

If the Drive Status LED is Status Do This 

Off Normal condition Go to step 5. 

Steady red Drive is faulted 

If the Comm Status LED is Status Do This 

Go to Error Codes 

on page 2-3. 



Flashing green 

Establishing communication 

with network 

Wait for steady green. 

Steady green Communication is ready Go to step 6. 

Off No ring present 






6. Observe the Bus Status LED. 

If the Bus Status LED is Status Do This 

Steady green 

Flashing green 1 

DC bus is present. Axis is 

enabled when status should 

be disabled. 

Bus is up, axis is disabled 

(normal status) 

Off DC bus is not present 

1. Verify Hardware Enable Input 

(IOD-2) is open. 

2. Verify MSO instruction is not 

commanded in RSLogix 5000. 

3. Return to Apply Power to Your 

Kinetix 6000 (without LIM) on 

page 1-30. 

Go to step 7. 



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. 

If the three SERCOS LEDs are 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 Your Axes. 

Not flashing green and red/ 

not steady green 

SERCOS module is faulted 

Go to the appropriate Logix 

motion module setup and 

configuration manual for specific 

instructions and troubleshooting.

Test and Tune Your Axes 


This procedure assumes that you have configured your Kinetix 6000, 

your SERCOS interface module, and applied power to the system. 

IMPORTANT 

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

ControlLogix and SoftLogix modules, refer to the table below for the 

appropriate publication. 

If you have already tested and tuned your Logix module using one of 

the setup and configuration manuals listed above, you are finished 

commissioning your Kinetix 6000 system. If not, go to Test Your Axes 

beginning below. 

Test Your Axes 

To test your axes: 

Before proceeding with testing and tuning your axes, 

verify that the IAM and AM status LEDs are as 

described in the table below. 

Status LED Must be Status 

Drive Off Normal condition 

Comm Steady green Communication is ready 

Bus Flashing green Bus is up, axis is disabled (normal status) 

Seven Segment Displaying a fixed 4 (phase 4) The drive is configured and active. 

For Refer to this Document Publication Number 


troubleshooting your ControlLogix motion module 


troubleshooting your SoftLogix PCI card 




Configuration Manual 

1. Verify the load was removed from each axis. 

1756-UM006 

1784-UM003 

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

window and select Axis Properties. The Axis Properties window 

appears. 




3. Select the Hookup tab. 

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 

Test Marker 

Test Feedback 

Test Command & 

Feedback 

Verifies marker detection capability 

as you rotate the motor shaft. 

Verifies feedback connections are 

wired correctly as you rotate the 

motor shaft. 

Verifies motor power and feedback 

connections are wired correctly as 

you command the motor to rotate. 

Also, allows you to define polarity. 

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

testing. 



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 window opens. 

Follow the on-screen test instructions. When the test completes, 

the Command Status changes from Executing to Command 

Complete. 

7. Select OK. 

8. The Online Command - Apply Test window opens (Feedback and 

Command & Feedback tests only). When the test completes, the 

Command Status changes from Executing to Command Complete. 

9. Select OK. 

If Then 

Your test completes successfully, this window 

appears: 

Your test failed, this widow appears: 

1. Select OK. 

2. Remove Hardware Enable Input 

signal (IOD-2). 

3. Go to Tune Your Axes. 

1. Select OK. 

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 step 6 and run the test 

again. 




Tune Your Axes 

To tune your axes: 

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


2. Select the Tune tab. 

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. 

3. Enter values for Travel Limit and Speed. In this example, Travel 

Limit = 5 and Speed = 10. 

Note: 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. 



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. The Online 

Command - Tune Servo window opens. When the test completes, 

the Command Status changes from Executing to Command 

Complete. 

8. Select OK. The Tune Bandwidth window opens. 

Note: 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. Select OK. 

10. The Online Command - Apply Tune window opens. When the test 

completes, the Command Status changes from Executing to 

Command Complete. 




11. Select OK. 

If Then 

Your test completes successfully, this window 

appears: 

Your test failed, this widow appears: 

1. Select OK. 

2. Remove the Hardware Enable 

Input signal (IOD-2) applied 

earlier. 

3. Go to step 12. 

12. Repeat Test and Tune Your Axes for each axis. 

1. Select 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.


Troubleshoot Your Kinetix 6000 

Chapter 2 

This chapter provides a description of maintenance and 

troubleshooting activities for the Kinetix 6000. This chapter includes: 

• Safety Precautions 

• General Troubleshooting 

• Troubleshoot IAM/AM Status LEDs 

• Troubleshoot SM Status LEDs 

• Troubleshoot LIM Status LEDs 

• Troubleshoot RBM Status LEDs 

• Troubleshoot General System Problems 

• Understand Logix/Drive Fault Behavior 

• Supplemental Troubleshooting Information 

• Replace Kinetix 6000 System Components 


2-2 Troubleshoot Your Kinetix 6000 

Safety Precautions 

General Troubleshooting 

If the Logic Power LED is ON and the 

Status LED display on your 

2094-xCxx-Mxx-x IAM 


Observe the following safety precautions when troubleshooting your 

Kinetix 6000 drive. 


DC bus capacitors may retain hazardous voltages 

after input power has been removed, but will 

normally discharge in several seconds. Before 

working on the drive, measure the DC bus voltage to 

verify it has reached a safe level or wait the full time 

interval listed on the warning on the front of the 

drive. Failure to observe this precaution could result 

in severe bodily injury or loss of life. 

Do not attempt to defeat or override the drive fault 

circuits. You must determine the cause of a fault and 

correct it before you attempt to operate the system. If 

you do not correct a drive or system malfunction, it 

could result in personal injury and/or damage to 

equipment as a result of uncontrolled machine 

system operation. 

If you use an oscilloscope (or chart recorder) for 

troubleshooting, you must properly ground it. The 

oscilloscope chassis can be at a potentially fatal 

voltage if you do not properly ground it. Always 

connect the oscilloscope chassis to an earth ground. 

Refer to the Error Codes section to identify problems, potential causes, 

and appropriate actions to resolve the problems. If problems persist 

after attempting to troubleshoot the system, please contact your 

Allen-Bradley representative for further assistance. To determine if 

your Kinetix 6000 drive has an error, refer to the table below. 

Is Then 

All drives Flashing an E followed by two numbers 

Actively cycling segments in a full circle 

Your Kinetix 6000 drive is ready, but SERCOS 

communications is not available. 

Displaying a fixed 4 Your Kinetix 6000 drive is ready. 

Your Kinetix 6000 drive has an error. Proceed 

to the section Error Codes.

Error 

Code 

E00 

E04 

E05 

Fault Message 

RSLogix (HIM) 

BusUndervoltage 

Fault 

(Blown fuse) 

MotorOvertemp 

Fault 

(Motor Overtemp) 

DriveOvercurrent 

Fault 

(Power Fault) 

Error Codes 

Troubleshoot Your Kinetix 6000 2-3 

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

and problems with assigned error codes is designed to help you 

resolve problems. 

When a fault is detected, the 7-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 problem is cleared. 

Problem or Symptom is Potential Cause is Possible Resolution is 

Power (PWR) indicator not 

ON 

Motor jumps when first 

enabled 

Digital I/O not working 

correctly 

A blown fuse was detected 

on the inverter PCB 

Motor thermal switch 

tripped 

Self-protection of the 

Intelligent Power Module 

(IPM) is indicating a major 

power related fault 

condition. 

No AC power or auxiliary logic power. 

Internal power supply malfunction. 

Verify AC control power is applied to the 

Kinetix 6000. 

Call your Allen-Bradley representative to 

return module for repair. 

Motor wiring error. 

• Check motor wiring. 

• Run Hookup test in RSLogix 5000. 

Incorrect motor chosen. Verify the proper motor is selected. 

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

Blown fuse. 

• High motor ambient temperature 

and/or 

• Excessive current 

Call your Allen-Bradley representative to 

return module for repair. 

• Operate within (not above) the 

continuous torque rating for the 

ambient temperature 

40 °C (104 °F) maximum. 

• Lower ambient temperature, increase 

motor cooling. 

Motor wiring error. 

Check motor wiring at MF connector on the 

IAM/AM. 

Incorrect motor selection. Verify the proper motor has been selected. 

Motor cables shorted. 

Motor winding shorted internally. 

Kinetix 6000 temperature too high. 

Operation above continuous power rating 

and/or product environmental ratings. 

Kinetix 6000 has a short circuit, 

overcurrent, or failed component. 

Verify continuity of motor power cable and 

connector. 

Disconnect motor power cables from the 

motor. If the motor is difficult to turn by 

hand, it may need to be replaced. 

• Check for clogged vents or defective 

fan. 

• Ensure cooling is not restricted by 

insufficient space around the unit. 

• Verify ambient temperature is not too 

high. 

• Operate within the continuous power 

rating. 

• Reduce acceleration rates. 

Remove all power and motor connections, 

and preform a continuity check from the DC 

bus to the U, V, and W motor outputs. If a 

continuity exists, check for wire fibers 

between terminals, or send drive in for 

repair. 



Error 

Code 

E06 

E07 

E09 

E10 

E11 

E16 

E18 

E19 

E20 

E21 

Fault Message 

RSLogix (HIM) 

HardOvertravel 

Fault 

(+/- Hard Overtravel) 

MotFeedbackFault 

(Motor Feedback Loss) 

BusUndervoltage 

Fault 

(Bus Undervoltage) 

DriveOvervoltage 

Fault 

(Bus Overvoltage) 


(Illegal Hall State) 

Softovertravel 

Fault 

(+/- Software 

Overtravel) 

OverSpeedFault 

(Overspeed Fault) 

PositionErrorFault 

(Follow Error) 


(Mtr Fdbk AQB) 

AuxFeedbackFault 

(Aux Feedback Comm) 

Axis moved beyond the 

physical travel limits in the 

positive/negative direction. 



Dedicated overtravel input is inactive. 

The feedback wiring is open, shorted, or missing. 

With three-phase power 

present, the DC bus 

voltage is below limits. • DC bus voltage for 460V system is 

below 275V 

DC bus voltage fell below 

the undervoltage limit 

while an axis on the 

follower power rail was 

enabled. 

The DC bus voltage is 

above limits. 

State of Hall feedback 

inputs is incorrect. 

• DC bus voltage for 230V system is 

below 137V 

Excessive regeneration of power. 

When the motor is driven by an external 

mechanical power source, it may 

regenerate too much peak energy 

through the Kinetix 6000’s power supply. 

The system faults to save itself from an 

overload. 


over 820V 


over 410V 

Bad connections. 

Axis position exceeded maximum software setting. 

Motor speed has exceeded 150% of maximum rated speed. The 100% 

trip point is dictated by the lesser of the user velocity limits or the 

motor rated base speed. 

Position error limit was exceeded. 

Motor Encoder State Error 

The motor encoder encountered an 

illegal transition. 

• Check wiring. 

• Verify motion profile. 

• Verify axis configuration in software. 

• Check motor encoder wiring. 

• Run Hookup test in RSLogix 5000. 

• Verify voltage level of the incoming AC 

power. 

• Check AC power source for glitches or 

line drop. 

• Install an uninterruptible power supply 

(UPS) on your AC input. 

Disable follower axis before removing 

power. 

• Change the deceleration or motion 

profile. 

• Use a larger system (motor and Kinetix 

6000). 

• Install shunt module. 

Verify input is within specifications. 

• Verify the Hall wiring at the MF 

connector on the IAM/AM. 

• Verify 5V power supply to the encoder. 

• Verify motion profile. 

• Verify overtravel settings are 

appropriate. 

• Check cables for noise. 

• Check tuning. 

• Increase the feed forward gain. 

• Increase following error limit or time. 

• Check position loop tuning. 

• Verify sizing of system. 

• Verify mechanical integrity of system 

within specification limits. 

• Use shielded cables with twisted pair 

wires. 

• Route the feedback away from 

potential noise sources. 

• Check the system grounds. 

• Replace the motor/encoder. 

Communication was not established with an intelligent encoder. Verify auxiliary encoder wiring.

Error 

Code 

E30 

E34 

E35 

E36 

E37 

E38 

E39 

E43 

Fault Message 

RSLogix (HIM) 


(Motor Feedback Comm) 

GroundShortFault 

(Ground Fault) 

DriveUndervoltage 

Fault 

(Pre-charge Fault) 

DriveOvertemp 

Fault 

(System 

Overtemperature) 

PowerPhaseLoss 

Fault 

(Phase Loss Flt) 

SERCOSFault 

(SERCOS Ring Flt) 

DriveHardFault 

(Self Sense Flt) 

DriveEnableInput 

Fault 

(Drive Enable Flt) 

Communication was not established with an intelligent encoder. 

Excessive ground current in 

the converter was 

detected. 

Converter pre-charge cycle 

failed. 

Converter thermal switch 

tripped. 



• Verify motor selection. 

• Verify the motor supports automatic 

identification. 

• Verify motor encoder wiring. 

• Check motor power wiring. 

Wiring error. 

• Check input power wiring (refer to 

Kinetix 6000 Installation Manual, 

publication 2094-IN001). 

Motor internal ground short. Replace motor. 

Internal malfunction. 

Grounded control power terminal 

(applies to 230V systems only) 

Disconnect motor power cable from drive 

and enable drive with current limit set to 0. 

If fault clears, then a wiring error or motor 

internal problem exists. If fault remains, 

call your A-B representative. 

• Remove ground from control power 

input. 

• Wire control power to use main power 

as shown in Figure A.3. 

• Add isolation transformer for control 

power. 

Low AC input voltage. Check input AC voltage on all phases. 

Internal malfunction. Call your A-B representative. 

Excessive heat exists in the power 

circuitry. 

• One or more phases of the input AC power is missing. 

• Axis was enabled when main (3-phase) power was removed. 

• Common bus follower axis was enabled when DC bus power was 

removed. 

The SERCOS ring is not 

active after being active 

and operational. 

Self-sensing Commutation 

Startup Error 

Missing Drive Enable Input 

Signal 

Cable disconnected. 

Motion required for self-sensing startup 

commutation was obstructed. 

• An attempt was made to enable the 

axis through software while the Drive 

Enable hardware input was inactive. 

• The Drive Enable input transitioned 

from active to inactive while the axis 

was enabled. 

• Reduce acceleration rates. 

• Reduce duty cycle (ON/OFF) of 

commanded motion. 

• Increase time permitted for motion. 

• Use larger Kinetix 6000 converter. 

• Check for clogged vents or defective 

fan. 

• Ensure cooling is not restricted by 

insufficient space around the unit. 

• Check input AC voltage on all phases. 

• Disable axis before removing power. 

Check that fiber-optic cable is present and 

connected properly. 

• Verify that there are no impediments to 

motion at startup, such as hard limits. 

• Increase self-sensing current if high 

friction or load conditions exist. 

• Check motor or encoder wiring using 

wiring diagnostics. 

• Disable the Drive Enable Input fault. 

• Verify that Drive Enable hardware input 

is active whenever the drive is enabled 

through software. 



Error 

Code 

E49 

E50 

E54 

E60 

E61 

E62 

E63 

E64 

E65 

E66 

E67 

E68 

E69 

E70 

E71 

Fault Message 

RSLogix (HIM) 


(Safe-Off HW Flt) 

SERCOSFault 

(SERCOS Same ADDR) 


(Ifbk HW Fault) 


(Unknown Axis) 


(Aux Fdbk AQB) 


(Aux Fdbk Loss) 

AuxFeedbackNoise 

(Aux Fdbk Noise) 

MotorFeedbackNoise 

(Mtr Fdbk Noise) 

No Fault Message 

(condition indicated 

by on-screen 

message) 

(Hookup Fault) 


(condition indicated 

by on-screen 

message) 

(Atune Flt) 


(Task init) 


(SCANport Comm) 


(Objects Init) 


(NV Mem Init) 


(Memory Init) 



For symptom, cause, and resolution of this error code, refer to the Kinetix Safe-Off Feature Safety Reference Manual 

(publication GMC-RM002). Applies to IAM (2094-xCxx-Mxx-S) and AM (2094-xMxx-S) with Safe-Off feature. 

Duplicate node address detected on SERCOS ring. 

Current feedback hardware fault detected. Replace the module 

Illegal ID bits detected Replace the module 

Auxiliary Encoder State 

Error 

The auxiliary encoder encountered an 

illegal transition. 

The feedback wiring is open, shorted, or missing. 

Noise on auxiliary 

feedback cable. 

Noise on motor feedback 

cable. 

Recommended grounding, per 

installation instructions, has not been 

followed. 

Hookup procedure failed Motor or feedback device malfunction. 

Autotune procedure failed Motor or feedback device malfunction. 

Operating system failed 

Software initialization fault detected due 

to hardware failure. 

Verify that each SERCOS drive is assigned 

a unique node address. 

• Use shielded cables with twisted pair 

wires. 

• Route the feedback away from 

potential noise sources. 

• Check the system grounds. 

• Replace the motor/encoder. 

Check the motor feedback cable 

connectors/wiring to the IAM/AM and 

motor. 

• Verify grounding. 

• Route feedback cable away from noise 

sources. 

• Refer to System Design for Control of 

Electrical Noise Reference Manual 

(publication GMC-RM001). 

• Check motor power/feedback wiring. 

• Refer to on-screen message for 

resolution. 

• Check motor power/feedback wiring. 

• Refer to on-screen message for 

resolution. 

• Perform Hookup in RSLogix 5000. 

• Consult RSLogix 5000 help screen. 

• Cycle power. 

• If fault persists, replace module. 

DPI communication failed The DPI device or cable is faulty. Check DPI connections. 

Non-volatile memory is corrupt due to control board hardware failure. 

Non-volatile memory is corrupt due to control board software error. 

RAM or Flash memory validation failure 

Load default parameters, save to 

non-volatile memory, and recycle power or 

reset the drive. 

Load default parameters, save to 

non-volatile memory, and recycle power or 

reset the drive. 


• If fault persists, replace module.

Error 

Code 

E72 

E73 

E74 

E75 

E76 

E77 

E78 

E79 

E80 

E81 

Fault Message 

RSLogix (HIM) 

DriveOvertemp 

Fault 

(Drive Overtemp) 

Communicate 

(Backplane Comm) 

DriveOvercurrent 

Fault 

(Bus OverCurrent) 


Fault 

(Shunt Time Out) 


(Can Init) 


(Module Mismatch) 


(SERCOS Init) 


Fault 

(Shunt Module Flt) 


(CPLD FLT) 


(Common Bus FLT) 

E90 


(Pre-charge Timeout FLT) 

All 

others RESERVED 

Inverter thermal switch 

tripped 



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

The cabinet ambient temperature is 

above rating. 

Check the cabinet temperature. 

The machine duty cycle requires an RMS 

current exceeding the continuous rating 

of the controller. 

The airflow access to the Kinetix 6000 is 

limited or blocked. 

Change the command profile to reduce 

speed or increase time. 

Check airflow and re-route cables away 

from the Kinetix 6000. 

Power rail CAN communications failed. Check module for proper mount. 

Power rail connection shorted or open. 

DC link current exceeds 

rating. 

Motor or transmission malfunction. 

IAM not properly sized. 

The IAM, AM, or SM has exceeded its shunt resistor continuous rating. 

DPI hardware initialization 

fault detected. 

Control board hardware failure. 

Either 230V AM is installed on power rail with 460V IAM, or 460V AM 

is installed on power rail with 230V IAM. 

Control hardware fault detected. 

SM Temperature Fault LED 

status is Steady Red 

SM Shunt Fault LED status 

is Steady Red 

Module missing from power rail. 

Refer to Temperature Fault LED on page 2-11. 

Refer to Shunt Fault LED on page 2-11. 

Check power rail and module for foreign 

objects. 

• Check for proper motor sizing. 

• Check/replace transmission device. 

• Check/replace motor. 

• Check for proper IAM sizing. 

• Install larger kW rated IAM. 

• Use a properly sized shunt or modify 

duty cycle of the application. 

• System uses internal shunt and 

requires external shunt for additional 

capacity. 

Reset System. 

If fault persists, replace system 

module. 

Replace mismatched module. 

Control hardware fault detected. Replace module. 

Follower IAM detected AC input power being applied. 


• If fault persists, replace module. 

Install missing module on power rail. 

Fill empty slot with slot filler module. 

Remove AC input power connections from 

Follower IAM. 

Pre-charge resistor power exceeds the resistor rating. Allow resistor to cool. 

Call your local Allen-Bradley 

representative. 



Troubleshoot IAM/AM 

Status LEDs 



Use the table below for troubleshooting the Drive Status LED on your 

Kinetix 6000 IAM (2094-xCxx-Mxx) or AM (2094-xMxx). 

If the Drive Status 

LED is 

Status is Potential Cause is Possible Resolution is 

Off Normal, no faults N/A N/A 

Steady Red Drive faulted Seven-segment LED displays error code 

Comm Status LED 

Refer to the section Error Codes and continue 

troubleshooting. 

Use the table below for troubleshooting the Comm Status LED on your 


If the Comm Status 

LED is 


Steady Green Communication ready No faults or failures. N/A 

Flashing Green 

Establishing 

communication 

Off No communication 1 

System is still in the process of establishing 

SERCOS communication. 

Node address setting on the drive module 

Wait for steady green LED status. 

does not match SERCOS controller 

configuration. 

Verify proper node switch setting. 

Loose fiber-optic connection. Verify proper fiber-optic cable connections. 

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.


If the Bus Status LED is Status is Condition 

Steady Green 

Flashing Green 

Off 

Bus power is present, axis enabled. 

No faults or failures. 

Bus power is present, axis disabled. 

No faults or failures. 

Bus power not present. 

Bus power is present in Follower IAM. 


Use the table below for troubleshooting the Bus Status LED on your 


Normal when: 

• 24V is applied to Hardware Enable Input (IOD-2). 

• MSO instruction is commanded in RSLogix 5000 software. 

Normal when: 

• 24V is not applied to Hardware Enable Input (IOD-2). 

• MSO instruction is not commanded in RSLogix 5000 software. 

• Normal when bus power is not applied. 

• Fault exists, refer to seven segment Error Code and General Troubleshooting 

beginning on page 2-2. 

• Follower IAM is not configured as Common Bus Follower in RSLogix 5000. 

• 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. 



Troubleshoot SM Status 

LEDs 


Each of the shunt module LEDs provide specific troubleshooting 

information, as described in Bus Status LED, Temperature Fault LED, 

and Shunt Fault LED. 

IMPORTANT 

Use of the Kinetix 6000 (rail mounted) shunt module 

(catalog number 2094-BSP2), requires IAM/AM 

firmware revision 1.068 or above. 

General Shunt Module Troubleshooting 

Shunt Module Faults are Under these Conditions 

Latched Until fault condition is corrected and cleared. 

Cleared 

IAM/AM Internal Shunts 

are 

Disabled (for DC Bus 

regulation) 

Enabled to discharge the 

DC Bus 

Disabled from discharging 

the DC bus 

IMPORTANT 

• Using RSLogix MASR, MAFR, MGSR commands or the HIM (red 

stop button). 

• Only after the DC bus is discharged (SM Bus Status LED is 

flashing). 

• Drive must be configured with 2094-BSP2 or Bulletin 1394 external 

shunt module. 

Under these Conditions 

• When the 2094-BSP2 shunt module is used on a 230V system. 

• When either 230V or 460V system is configured with a Bulletin 

1394 external shunt module. 

• When configured in common bus follower mode. 

Drive (IAM or IAM Leader) three-phase power is removed. 

When configured in common bus follower mode. 

Under some fault conditions, two reset commands 

may be required to clear drive and SM faults. 

The following table applies when all three SM LEDs are flashing. 


All three SM status LEDs 

flash simultaneously 

Shunt module hardware failure 

Cycle power 

If problem persists, replace shunt module

If the Bus Status 

LED is 

Flashing 



Use the table below for troubleshooting the Bus Status LED on your 

Kinetix 6000 SM (2094-BSP2). 


Normal condition when control power is applied and bus voltage is less than 

60V dc. 

Steady Green 

Normal condition when control power is applied and bus voltage is greater 

than 60V dc. 

N/A 

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

Temperature Fault LED 

Use the table below for troubleshooting the Temperature Fault LED on 

your Kinetix 6000 SM (2094-BSP2). 

If the Temp Fault 

LED is 


Off Normal condition N/A 

Steady Red 

SM internal temperature 

exceeds operating 

temperature specification 

External over temperature 

condition 

Shunt Fault LED 

Use the table below for troubleshooting the Shunt Fault LED on your 

Kinetix 6000 SM (2094-BSP2). 

N/A 

Shunt module fan failed Replace shunt module. 

Shunt module temperature exceeds rating 

Allow shunt module to cool. 

Reset faults. 

Verify IAM bus regulator configuration. 

Allow shunt module to cool. 

External temperature switch is open 

Reset faults. 

Verify IAM bus regulator configuration. 

TS jumper is not present Install jumper. 

If the Shunt Fault 

LED is 


Off Normal condition N/A 

Steady Red 

Shorted internal or external 

shunt resistor 

Mis-wired shunt jumper or other short on RC 

connector 

Mis-wired (shorted) external shunt wiring 

Correct mis-wire (shorted) condition 

If problem persists, replace shunt module 



Troubleshoot LIM Status 

LEDs 

Troubleshoot RBM Status 

LEDs 


The following troubleshooting table applies to the following Line 

Interface Module status LEDs: 

• 24V Power status LED (2094-AL75S, -BL75S, and -XL75S-Cx) 

• Brake Power status LED (2094-AL09 and -BL02) 

• I/O Power status LED (2094-AL09 and -BL02) 

If the Status LED is Status is Potential Cause is Possible Resolution is 

Steady Green Normal, 24V power enabled N/A N/A 

Off 

• 24V power disabled 

(2094-AL75S, -BL75S, and 

XL75S-Cx) 

• Brake power disabled 

(2094-AL09, and -BL02) 

• I/O power disabled 

(2094-AL09, and -BL02) 

CB3 is open 

24V polarity is 

reversed at the load 

The Resistive Brake Module (RBM) contactor status LED is visible from 

the front of the RBM. Use the table below for troubleshooting the 

RBM status LEDs. 

24V dc Status LED 

• Set breaker to on position. 

• If breaker continues to trip, call your Allen-Bradley 

representative to return module for repair. 

• Correct polarity. 

• If polarity is correct and LED is not steady green, call your 

Allen-Bradley representative to return module for repair. 

The 24V dc Status LED is on when 24V is applied between COIL_A1 

and COIL_A2 (e.g. a Brake Enable signal is received from the drive). 

If the Status LED is RBM Contactor Status is Potential Cause is Possible Resolution is 

Steady Green 

Blinking Green 

(audible clicking) 

Off 

(intended) 

Off 

(unintended) 

Contactor engaged 

(direct connection between drive and 

motor) 

Contactor disengaged 

(no connection between drive and 

motor) 

Contactor rapidly engaging/ 

disengaging 

Contactor disengaged 

(connection open between drive and 

motor) 

No faults or failures N/A 

Contactor failure 

Recommended grounding 

not followed 

Control circuit improperly 

wired 


+24V not applied between 

COIL_A1 and COIL_A2 

• Monitor CONSTAT_41/42 status to verify lack of 

drive/motor power (output is NC). 

• Contact A-B representative. 

• Verify ground wiring. 

• Route wires away from noise sources. 

• Refer to System Design for Control of Electrical Noise 

Reference Manual (publication GMC-RM001). 

Verify control wiring and programming. 

• +24V supply is off. 

• Verify wiring. 

• Drive not enabled. 


T1 (Fault) thermostat open Duty cycle exceeded, allow RBM to cool.

If 230V Status LED 

is 

Steady Green 

Blinking Green 

(audible clicking) 

Off 

(intended) 

Off 

(unintended) 

230V ac Auxiliary Power Status LED 


Note: The 230V ac Auxiliary Power Status LED only applies to 

2090-XB120-xx RBMs. 

The 230V ac Status LED is on when 230V ac is applied to L1 and L2 

(TB4) and the contactor is engaged by applying 24V dc across 

COIL_A1 and COIL_A2 (e.g. a Brake Enable signal is received from 

the drive). 

Contactor Status is Potential Cause is Possible Resolution is 

Contactor Engaged 

(direct connection between drive and motor) 

Contactor Disengaged 

(no connection between drive and motor) 

Contactor rapidly engaging/disengaging 




Grounding 

230V ac is varying 

• Monitor CONSTAT_41/42 status to 

verify lack of drive/motor power 

(output is NC). 


• Verify ground wiring. 

• Route wires away from noise 

sources. 


Electrical Noise Reference Manual 

(publication GMC-RM001). 

• Check VAC loading. 

• Check VAC source. 


Control circuit improperly wired Verify control wiring and programming. 


(contacts welded together) 

Contactor Disengaged No faults or failures N/A 


Contactor Disengaged 


(contacts welded together) 









LED failure • Contact A-B representative. 

+24V signal not functioning properly 

Refer to 24V dc Status LED 

troubleshooting table on page 2-12. 

Contactor failure (coil damaged) Contact A-B representative. 

No 230V ac signal 


• Verify 230V ac source. 



Troubleshoot General 

System Problems 


Use the tables below for troubleshooting general system faults. For a 

list of Bulletin 1756 product manuals, refer to Related Documentation 

in the Preface. 

Condition Potential Cause is Possible Resolution is 

Axis or System is unstable 

You cannot obtain the motor 

acceleration/deceleration 

that you want 

Motor does not respond to a 

Velocity Command 

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. 

Position loop gain or position controller accel/decel rate is 

improperly set. 

Improper grounding or shielding techniques are causing noise to 

Run Tune in RSLogix 5000. 

be transmitted into the position feedback or velocity command 

lines, causing erratic axis movement. 

Check wiring and ground. 

Motor Select limit is incorrectly set (servo motor is not matched 

to axis module). 

Mechanical resonance 

• Check setups. 

• Run Tune in RSLogix 5000. 

Notch filter or output filter may be required 

(refer to Axis Properties window, Output tab 

in RSLogix 5000). 

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 again. 

The system inertia is excessive. 

• Check motor size vs. application need. 

• Review servo system sizing. 

The system friction torque is excessive. Check motor size vs. application need. 

Available current is insufficient to supply the correct accel/decel 

rate. 

Acceleration limit is incorrect. 

Velocity Limit limits are incorrect. 

The axis cannot be enabled for 1.5 seconds after disabling. 

• Check motor size vs. application need. 

• Review servo system sizing. 

Verify limit settings and correct them, as 

necessary. 

Verify limit settings and correct them, as 

necessary. 

Disable the axis, wait for 1.5 seconds, and 

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. 

The motor thermal switch has tripped. 

• Check for a fault. 

• 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 limit(s).

Presence of noise on 

Command or motor feedback 

signal wires 

No Rotation 

Motor Overheating 

Recommended grounding per installation instructions have not 

been followed. 

Line frequency may be present. 

Variable frequency may be velocity feedback ripple or a 

disturbance caused by gear teeth or ballscrew balls etc. The 

frequency may be a multiple of the motor power transmission 

components or ballscrew speeds resulting in velocity 

disturbance. 


Condition Potential Cause is Possible Resolution is 

Abnormal Noise 

Erratic Operation - Motor 

locks into position, runs 

without control or with 

reduced torque 


• Route wire away from noise sources. 


Electrical Noise (publication 

GMC-RM001). 


• Route wire away from noise sources. 

• Decouple the motor for verification. 

• Check and improve mechanical 

performance of the gearbox, ballscrew, 

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. 

The bearings are worn. Return the motor for repair. 

The motor brake is engaged (if supplied). 

• Check brake wiring and function. 

• Return the motor for repair. 

The motor is not connect to the load. Check coupling. 

The duty cycle is excessive. 

The rotor is partially demagnetized causing excessive motor 

current. 

Change the command profile to reduce accel/ 

decel or increase time. 

Return the motor for repair. 

Motor tuning limits are set too high. Run Tune in RSLogix 5000 again. 

• Remove the loose parts. 

Loose parts are present in the motor. 

• Return motor for repair. 

• Replace motor. 

Through bolts or coupling is loose. Tighten bolts. 

The bearings are worn. Return motor for repair. 

Mechanical resonance 

Notch filter may be required (refer to Axis 

Properties window, Output tab in RSLogix 

5000). 

Motor power phases U and V, U and W, or V and W reversed. Check and correct motor power wiring. 

Sine, Cosine or Rotor leads are reversed in the feedback cable 

connector. 

Check and correct motor feedback wiring. 

Sine, Cosine, Rotor lead sets of resolver feedback are reversed. Check and correct motor feedback wiring. 



Understand Logix/Drive 

Fault Behavior 

Fault Message RSLogix 

(HIM) 

BusUndervoltageFault 

(Blown fuse) 

MotorOvertempFault 

(Motor Overtemp) 

DriveOvercurrentFault 

(Power Fault) 

HardOvertravelFault 

(+/- Hard Overtravel) 


(Motor Feedback Loss) 

BusUndervoltageFault 

(Bus Under Voltage) 

DriveOvervoltageFault 

(Bus Overvoltage) 


(Illegal Hall State) 

SoftovertravelFault 

(+/- Software Overtravel) 

OverSpeedFault 

(Overspeed Fault) 

PositionErrorFault 

(Follow Error) 

Error 

Code 

Description 


This section provides the drive fault actions and indicates whether the 

fault action is programmable. 

The following drive fault action definitions apply: 

Drive Fault Action Definition 

Shutdown 

The drive disables and the contactor enable relay opens. Uncontrolled 

stop, motor coasts to a stop. 

Disable Drive The drive is disabled. Uncontrolled Stop, motor coasts to a stop. 

Stop Motion 

Status Only 

Logix configuration for velocity loop Kp/Ki is followed. When zero speed is 

reached or stopping time is exceeded, the drive is disabled. 

Note: Stopping time and stopping torque are configurable parameters in 

RSLogix 5000. 

Drive continues to operate. Status is provided by 7-Segment Fault Status 

LED, Drive Status LED, and DPI (if used). 

Drive Fault 

Action 

E00 A blown fuse was detected in the inverter pcb. SHUTDOWN N 

E04 

E05 

E06 

The motor thermal switch was tripped. 

Note: Firmware I2t protection does not generate a fault, rather it 

dynamically folds back current when 110% of motor rating is 

reached. Setting the Motor Thermal fault action to Status Only 

will bypass this function. 

An instantaneous over-current was detected in the inverter power 

section. 

Axis moved beyond the physical travel limits in the positive/negative 

direction. This fault can be configured for status only. 

STOP Y 

SHUTDOWN N 

STOP Y 

E07 The feedback wiring is open, shorted or missing. DISABLE N 

E09 

E10 

With 3 phase present, the DC bus voltage is below limits. The trip 

point is 275V and 137V DC for 460V/230V drives respectively. 

DC bus voltage is below limits when any axis on common bus 

follower power rail was enabled. 

The DC bus voltage is above limits. The trip point is 820V and 410V 

DC for 460V/230V drives respectively. 

SHUTDOWN N 

SHUTDOWN N 

E11 State of Hall feedback inputs in incorrect. DISABLE N 

E16 

E18 

E19 

Axis position exceeded maximum software setting in the positive/ 

negative direction. This fault can be configured for status only. 

Axis speed has reached 150% of the maximum rated setting. The 

100% trip point is dictated by the lesser of the user velocity limits or 

the motor rated base speed. 

Axis position error limit has been exceeded. This fault can be 

configured for status only. 

STOP Y 

DISABLE N 

STOP Y 

RSLogix 

Programmable 

Fault Action?


(HIM) 


(Mtr Fdbk AQB) 


(Aux Feedback Comm) 


(Motor Feedback Comm) 

GroundShortFault 

(Ground Fault) 

DriveUndervoltageFault 

(Precharge Fault) 

DriveOvertempFault 

(System Overtemperature) 

PowerPhaseLossFault 

(Phase Loss Flt) 

SERCOSFault 

(SERCOS Ring Flt) 


(Self Sense Flt) 

DriveEnableInputFault 

(Drive Enable Flt) 


(Safe-Off HW Flt) 

SERCOSFault 

(SERCOS Same ADDR) 


(Ifbk HW Fault) 


(Unknown Axis) 


(Aux Fdbk AQB) 


(Aux Fdbk Loss) 

AuxFeedbackNoise 

(Aux Fdbk Noise) 

MotorFeedbackNoise 

(Mtr Fdbk Noise) 


(condition indicated by 

on-screen message) 

(Hookup Fault) 

Error 

Code 


E20 Motor encoder has encountered an illegal state transition. DISABLE N 

E21 

E30 

Communication was not established with an intelligent (i.e. 

Stegmann) encoder on the Auxiliary feedback port. 

Communication was not established with an intelligent (i.e. 

Stegmann) encoder on the Motor feedback port. 

STOP N 

STOP N 

E34 Excessive ground current in the converter was detected. SHUTDOWN N 

E35 The converter pre-charge cycle has failed. SHUTDOWN N 

E36 Converter internal temperature limit exceeded. SHUTDOWN N 

E37 

• One or more phases of the input AC power is missing. 

• Axis was enabled when main (3-phase) power was removed. 

• Common bus follower axis was enabled when DC bus power was 

removed. 

SHUTDOWN/ STOP N 

E38 The SERCOS ring is not active after being active and operational. STOP N 

E39 Self-sensing commutation fault detected DISABLE N 

E43 Generated when Enable input switches off when drive is enabled. STOP Y 

E49 

Description 

Safe-off function mismatch. Drive will not allow motion. Refer to the 

Kinetix Safe-Off Feature Safety Reference Manual (publication 

GMC-RM002) for more information. Applies to IAM 

(2094-xCxx-Mxx-S) and AM (2094-xMxx-S) with Safe-Off feature. 

SHUTDOWN N 

E50 Duplicate node address detected on SERCOS ring. STOP N 

E54 Current feedback hardware fault detected. SHUTDOWN N 

E60 Invalid module type identified by firmware during power on SHUTDOWN N 

E61 Auxiliary encoder has encountered an illegal state transition. DISABLE N 

E62 The feedback wiring is open, shorted or missing. DISABLE N 

E63 Presence of noise on auxiliary feedback cable. 

E64 Presence of noise on motor feedback cable. 

Drive Fault 

Action 

DISABLE Y 

E65 Hookup procedure failed DISABLE N 

RSLogix 

Programmable 

Fault Action? 




(HIM) 


(condition indicated by 

on-screen message) 

(Atune Flt) 


(Task init) 


(SCANport Comm) 


(Objects Init) 


(NV Mem Init) 


(Memory Init) 

DriveOvertempFault 

(Drive Overtemp) 

Communicate 

(Backplane Comm) 

DriveOvercurrentFault 

(Bus OverCurrent) 


(Shunt Time Out) 


(Can Init) 


(Module Mismatch) 


SERCOS Init 


(Shunt Module Flt) 

HardwareFault 

(CPLD FLT) 

HardwareFault 

(Common Bus FLT) 

HardwareFault 

(Pre-charge Timeout FLT) 

RESERVED 

Error 

Code 


E66 Autotune procedure failed DISABLE N 

E67 Operating System Failed SHUTDOWN N 

E68 DPI Communication Failed STOP N 

E69 Non-Volatile Memory attribute out of range SHUTDOWN N 

E70 Non-Volatile Memory Corrupted SHUTDOWN N 

E71 RAM or Flash memory validation failure. SHUTDOWN N 

E72 

Inverter temperature limit exceeded. 

Note: Firmware I 2 t protection does not generate a fault, rather it 

dynamically folds back current when 110% of drive rating is 

reached. 

SHUTDOWN Y 

E73 Power Rail Backplane CAN communications failed STOP N 

E74 The converter has exceeded its converter rating. SHUTDOWN N 

E75 

The IAM, AM, or SM has exceeded its shunt resistor continuous 

rating. 

Note: SHUTDOWN for IAM, DISABLE for AM. IAM also provides 

fault handling for Shunt Module. 

SHUTDOWN N 

E76 Either DPI or Backplane CAN initialization failure SHUTDOWN N 

E77 

Generated by IAM if the power rating of one of the AM’s on the 

power rail does not match with IAM input power rating 

SHUTDOWN N 

E78 Control hardware fault detected SHUTDOWN N 

E79 

Power Rail mounted Shunt Module Fault. Displayed on IAM 

7-segment fault status LED. 

SHUTDOWN N 

E80 Control hardware fault detected SHUTDOWN N 

E81 Common Bus Follower IAM detected AC input power being applied. SHUTDOWN N 

E90 Pre-charge resistor power exceeds the resistor rating. SHUTDOWN N 

All 

Others 

Description 

Drive Fault 

Action 

RSLogix 

Programmable 

Fault Action?

Supplemental 

Troubleshooting 

Information 


This section provides information for accessing and changing 

parameters not accessible through RSLogix 5000 software. 

Tools for Changing Parameters 

Most parameters are accessible through RSLogix 5000 software. 

Alternatives to RSLogix 5000 software for changing parameters include 

the DPI compatible Human Interface Module (HIM) and 

DriveExplorer software. Refer to the table below for catalog numbers. 

Method Description Catalog Number Firmware Revision 

DriveExplorer 

DriveExplorer Software 1 9306-4EXP02ENE 2.01 or later 

Serial to SCANport Adapter 1203-SSS (Series B) 3.004 or later 

HIM Full Numeric LCD HIM 20-HIM-A3 2 N/A 

1 Refer to DriveExplorer Getting Results Manual (publication 9306-GR001) for instructions. 

2 Compatible catalog numbers include all 20-HIM-Ax. 

Changing Parameters Using DriveExplorer 

To navigate using DriveExplorer, refer to the figure below. In this 

example, the I/O Interface group folder is open, the Analog Outputs 

parameter is selected, and the parameter elements are displayed in the 

box to the right. 

IMPORTANT 

Figure 2.1 

DriveExplorer Example 

Parameters are read-only when SERCOS ring is 

active. You must break SERCOS ring to change 

parameters. 

To save changes, perform a non-volatile save (NVS) 

prior to cycling power. 




Changing Parameters Using the HIM 

When using the HIM to monitor or change parameters, use the up and 

down arrows (∧ and ∨ ) to arrive at selections. Refer to the 

instructions that came with your HIM for more information. 

To monitor or change parameters using the HIM: 

1. Select parameter. Press ↵ . 

2. Select I/O AM1 Group (for IAM). Press ↵ . 

3. Select Analog Outputs. Press ↵ . 

• Analog Output 1 is displayed. Press ↵ . 

• For Analog Output 2 use arrows to select. Press ↵ . 

4. Press Sel. 

5. Enter parameter number. Press ↵ . 

Using Analog Test Points to Monitor System Variables 

There are two analog output test points accessible from the IOD 

26-pin connector on each IAM and AM (refer to figures and 1.2 for 

connector locations). 

IOD Pin Description Signal 

23 Analog Output 0 DAC0 

24 Analog Output Common DAC_COM 

25 Analog Output 1 DAC1 

26 Analog Output Common DAC_COM 

Figure 2.2 

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

Pin 26 

Pin 19 

Pin 10 

26-pin IAM/AM 

I/O Connector 

Pin 18 

Pin 9 

Refer to the Kinetix 6000 Multi-Axis Servo Drive Installation Manual 

(publication 2094-IN001) for analog output specifications. 

Pin 1


Parameters begin with a variable to identify a specific axis by slot 

number, as follows: 

• IAM = 0 for parameters 0-999 

• 1st AM = 1 for parameters 1000-1999 

• 2nd AM = 2 for parameters 2000-2999 and so on... 

• 7th AM = 7 for parameter 7000-7999 

Use the two analog output test points to monitor system variables, as 

shown in the table below. 

Analog 

Controlling Parameter Scale Parameter 

Output 

Parameter Number 1 

Default Value 1 

Parameter Number 1 

Default Value 

1 x681 xx40 x682 0.0060 

2 x683 xx84 x684 0.1000 

1 x = slot number 

The value entered in Scale Parameter will scale the analog output so 

that you can get a full scale reading of the specific parameter for the 

dynamic range or values you are testing. 

To monitor dynamic system variables on analog outputs, use the 

values shown in the table below. 

Attribute Parameter Number 4 

Velocity Feedback 1 xx40 

Velocity Commanded 1 xx36 

Torque Feedback 2 xx84 

Torque Commanded 2 xx80 

Following Error 3 x189 

1 Velocity Command and Feedback scaling value is 0.25V = 1000 rpm (using default scaling). 

2 

Torque Command and Feedback scaling value is 0.25V = 100% rated motor current or amplifier rating (whichever 

is less) using default scaling. 

3 

Output scaling is dependant on feedback device and drive resolution. 

4 x = slot number 



Replace Kinetix 6000 

System Components 


Use these procedures to: 

• Determine what you need to replace modules 

• Remove a module from the Power Rail 

• Install a replacement Power Rail module 

• Remove the Power Rail 

• Install a replacement Power Rail 

• Remove the Line Interface Module 

• Install a replacement Line Interface Module 


Before You Begin 

Before you replace modules, be sure to have the following: 

• A flat blade screw driver 

• A small flat blade screw driver, 3.5 mm (0.14 in.) 

• Voltmeter 

This drive contains ESD (Electrostatic Discharge) 

sensitive parts and assemblies. You are required to 

follow static control precautions when you install, 

test, service, or repair this assembly. If you do not 

follow ESD control procedures, components can be 

damaged. If you are not familiar with static control 

procedures, refer to Allen-Bradley publication 

8000-4.5.2, Guarding Against Electrostatic Damage 

or any other applicable ESD Protection Handbook.

Remove Modules from the 

Power Rail 

Vertical Cable Clamp 

Orientation Example 

To remove module(s) from the power rail: 


1. Verify that all control and input power has been removed from the 

system. 


2. Allow five minutes for the DC bus to completely discharge before 

proceeding. 

3. Label and remove all connectors from the module (IAM, AM, or 

SM) you are removing. To identify each connector, refer to 

Commission Your Kinetix 6000 (pages 1-3 to 1-5). 

Note: The Slot Filler module has no connectors aside from the 

connections to the power rail. 

4. Remove the motor cable from the cable shield clamp, as shown in 

the figure below. 

Figure 2.3 

Depressing the Spring Clamp 

Motor 

Cable 

Vent holes on top of IAM/AM 


Cable Clamp 

To avoid shock hazard or personal injury, assure 

that all power has been removed before 

proceeding. This system may have multiple 

sources of power. More than one disconnect 

switch may be required to de-energize the 

system. 

This product contains stored energy devices. To 

avoid hazard of electrical shock, verify that all 

voltage on capacitors has been discharged before 

attempting to service, repair, or remove this unit. 

You should only attempt the procedures in this 

document if you are qualified to do so and are 

familiar with solid-state control equipment and 

the safety procedures in publication NFPA 70E. 

Use flat blade screwdriver with 

3.5 mm (0.14 in.) tip to depress 

spring and remove cable. 

Cable Clamp 

Screwdriver tip in slot 

Horizontal Cable Clamp 

Orientation Example 



Replace Power Rail 

Modules 


5. Loosen the mounting screw (bottom center of each module). 

6. Grasp top and bottom of the module with both hands and gently 

pull the module away from the connectors enough to clear the 

guide pin(s) (module will pivot on top bracket). Lift the bracket 

out of the power rail slot and remove module from the power rail. 

Figure 2.4 

Removing Module from Power Rail 

To replace the power rail module(s): 

1. 

Power Rail 

(side view) 

Guide Pin(s) 

Integrated Axis Module 

(side view) 

If you are Then 

Replacing a power rail module on 

the existing power rail 

Go to step 3. 

Replacing a power rail module on a 

new power rail 

Go to step 2. 

2. Prepare to mount your replacement module by removing the 

protective boots from the power rail connector. 

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

IMPORTANT 

Power rail must be in vertical orientation before 

replacing modules or pins may not seat properly. 

4. Align the guide pin(s) on the power rail with the guide pin hole(s) 

in the back of the module (refer to Figure 2.4). 

Note: The IAM can have two or three power rail connectors and 

guide pins, the AM can have one or two, all other modules 

have only one connector and one guide pin.

Remove the Power Rail 


5. Use 2.26 N-m (20 lb-in.) torque to tighten the mounting screw. 

6. Re-connect the module connectors. 

7. Re-apply power to the system. 

8. Verify that the system is operating properly. 

Note: Because IAM and AM parameters reside in the RSLogix 5000 

software, you do not need to perform any tuning or setup 

procedures. 

This procedure assumes you have disconnected all power from the 

power rail modules and removed all modules from the power rail. 

To remove the power rail: 

1. Disconnect the braided grounding strap from the grounding stud 

on the right side of the power rail, as shown in the figures below. 

Figure 2.5 

Removing Ground Strap (2094-PRx) 

Figure 2.6 

Removing Ground Strap (2094-PRSx) 

Braided Ground Strap 

100 mm (3.9 in.) 

2. Loosen the mounting bolts (removing the bolts is not necessary). 

3. Lift the power rail up and off of the mounting bolts. 

Bonded Cabinet Ground 

Braided Ground Strap 

100 mm (3.9 in.) 

Bonded Cabinet Ground 



Replace the Power Rail 


This procedure assumes you do not need to change the location of 

the power rail on the panel and you intend to reuse the mounting 

bolts of the power rail you just removed. 

IMPORTANT 


To replace the power rail: 

1. Align the replacement power rail over the existing mounting bolts. 

IMPORTANT 

2. Tighten the mounting bolts. 

If you need to change the location of the power rail, 

or if you are installing a power rail designed for 

additional or fewer modules than you removed, refer 

to the Kinetix 6000 Multi-Axis Servo Drive 

Installation Manual (publication 2094-IN001) for 

complete installation instructions. 

To avoid damage to Power Rail during installation, 

do not remove the protective boots until the module 

for each slot is ready for mounting. 

To improve the bond between the power rail and 

subpanel, construct your subpanel out of zinc 

plated (paint-free) steel. 

3. Re-attach the braided grounding strap to the power rail grounding 

stud (refer to figures 2.5 and 2.6).

Remove the Line Interface 

Module 

To remove the Line Interface Module (LIM): 


1. Verify that all input power has been removed from the LIM. 


2. Allow five minutes for the DC bus to completely discharge before 

proceeding. 


To avoid shock hazard or personal injury, assure 

that all power has been removed before 

proceeding. This system may have multiple 

sources of power. More than one disconnect 

switch may be required to de-energize the 

system. 

To avoid hazard of electrical shock, verify that all 

voltage on the capacitors has been discharged 

before attempting to service, repair, or remove 

this unit. This product contains stored energy 

devices. You should only attempt the procedures 

in this document if you are qualified to do so and 

familiar with solid-state control equipment and 

the safety procedures in publication NFPA 70E. 

3. Label and remove all connectors and wires from the LIM. To 

identify each connector, refer to page 1-6. 

4. Loosen the mounting bolts (removing the bolts is not necessary). 

5. Lift the LIM up and off of the mounting bolts. 



Replace the Line Interface 

Module 


This procedure assumes you do not need to change the location of 

the LIM on the panel and you intend to reuse the mounting bolts of 

the LIM you just removed. 

IMPORTANT 

1. Align the replacement LIM over the existing mounting bolts. 

IMPORTANT 

2. Tighten the mounting bolts. 

3. Re-connect the LIM wires and connectors. To locate wires and 

connectors, refer to page 1-6. 

4. Re-apply power to the LIM. 

If you need to change the location of the LIM, refer 

to the Kinetix 6000 Multi-Axis Servo Drive 

Installation Manual (publication 2094-IN001) for 

complete installation instructions. 

To improve the bond between the LIM and 

subpanel, construct your subpanel out of zinc 

plated (paint-free) steel. 

5. Verify that the LIM is operating properly.


Kinetix 6000 Interconnect 

Diagram Notes 

Interconnect Diagrams 

This appendix contains the following interconnect diagrams: 

• Power Interconnect Diagrams 

• DC Common Bus Interconnect Diagrams 

• Shunt Module Interconnect Diagrams 

• AM/Motor Interconnect Diagrams 

• Controlling a Brake Example 

• System Block Diagrams 

Appendix A 

This section provides interconnect diagram notes to assist you in 

wiring the Kinetix 6000 system. The notes apply to the interconnect 

diagrams on the pages that follow. 


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. 


A-2 Interconnect Diagrams 

Note Information 

1 For power wiring specifications, refer to Kinetix 6000 Installation Manual (publication 2094-IN001). 

2 For input fuse and circuit breaker sizes, refer to Kinetix 6000 Installation Manual (publication 2094-IN001). 

3 For AC line filter specifications, refer to Kinetix 6000 Installation Manual (publication 2094-IN001). 

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-AL75S and -BL75S 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. 

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 required. 

10 Jumper is factory set, indicating grounded system at user site. Ungrounded sites must jumper the bleeder resistor to prevent high electrostatic 

buildup. Refer to Kinetix 6000 Installation Manual (publication 2094-IN001) for more information. 

11 


Implementation of safety circuits and risk assessment is the responsibility of the 

machine 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). 

12 



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

drive, wire the Contactor Enable relay into your safety control string. The 

recommended minimum wire size for wiring the safety circuit to the contactor 

enable connector is 1.5 mm 2 (16 AWG). 

13 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). 

14 For motor cable specifications, refer to the Kinetix Motion Control Selection Guide (publication GMC-SG001). 

15 Wire colors are for flying lead cable (2090-XXNFxx-Sxx) and may vary from the premolded connector cable (2090-UXNFBxx-Sxx). 

16 Y-Series feedback cables have a drain wire that must be folded back under the Low Profile connector clamp. 

17 Only the MPG-Bxxx encoder uses the +5V dc supply. MPL-Bxxx encoders use the +9V dc supply. 

18 Brake wires on MPF/MPS-A/B5xx motors are labeled plus (+) and minus (-). All other MP-Series Food Grade and Stainless Steel motor brake 

wires are labeled F and G. 

19 Refer to Kinetix 6000 Installation Manual (publication 2094-IN001) 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. 

20 Refer to Kinetix 6000 Installation Manual (publication 2094-IN001) 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.

Power Interconnect 

Diagrams 

Bonded Cabinet 

Ground Bus* 

VAC LINE Three-Phase (IPL) Input 

195-264V ac RMS 

or 324-528V ac RMS 

Note 1 

L3 

L2 

L1 


LINE INTERFACE MODULE 

2094-AL09 or -BL02 

Single-Phase (CPL) Output 

195-264V ac RMS 

Notes 1 

Ground 

VAC LOAD 3-Phase (OPL) Output 

195-264V ac RMS 


Note 1 

24V dc Output 

(PSL) Connector 

I/O (IOL) 

Connector 

Note 11, 12 

Interconnect Diagrams A-3 

The interconnect wiring for an IAM is shown beginning below. 

In the configuration below the IAM has input power, brake power, 

and the start/stop string wired from a LIM (2094-AL09 or -BL02). The 

2094-xLxx LIM contains an AC line filter, so an external filter is not 

required. 

Figure A.1 

IAM Power Interconnect Diagram (IAM with LIM) 

L2 

L1 

L3' 

L2' 

L1' 

IO_PWR 

COIL_A1 

IO_COM 

COIL_A2 

1 

2 

1 

MBRK_PWR 

2 

MBRK_COM 

3 

MBRK_PWR 

4 

MBRK_COM 

24-26 

13 

20-22 

4 

1 

2 

1 

2 

3 

4 

5 

6 

STOP * 

Power Rail 

Ground Stud 

CTRL 2 

CTRL 1 

DC- 

DC+ 

L3 

L2 

L1 

1 


2 



INTEGRATED AXIS MODULE 

2094-ACxx-Mxx or -BCxx-Mxx 

Control Power 


DC Bus 

and 

3-Phase 

Input (IPD) 

Connector 

Motor/Resistive 

Brake (BC) Connector 



Note 12 

Cable Shield 

Clamp 

Note 9 

Motor Power 


MBRK - 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 

W 

V 

U 

4 

3 

2 

1 

6 

5 

4 

3 

2 

1 

BR- 

BR+ 

BR- 

BR+ 

Three-Phase 

Motor Power 

Connections 

Note 14 

Motor Brake 

Connections 

Resistive Brake 

Connections 

* INDICATES USER SUPPLIED COMPONENT 




Ground Bus* 

VAC LINE 

3-Phase (IPL) Input 

195-264V ac RMS 


Note 1 

Auxiliary Power 

Single-Phase (APL) Input 

93-121V ac RMS 


(This connector is present 

only on the 2094-XL75S-Cx) 

Note 1 

1 

2 

3 

4 

1 

2 



2094-AL75S, -BL75S, or -XL75S-Cx 

L3 

L2 

L1 

L1 

L2/N 

Control Power 

Single-Phase (CPL) Output 

195-264V ac RMS 

Note 1 

CTRL 2 

CTRL 1 

1 

2 

VAC LOAD 

3-Phase (OPL) Output 

195-264V ac RMS 


Note 1 

24V dc (P1L) Output 

I/O (IOL) 

Connector 

Note 11, 12 


In the configuration below two IAMs have input power, brake power, 

and the start/stop string wired from the same LIM (2094-AL75S, 

-BL75S, or -XL75S-Cx). The 2094-xL75S-xx LIM does not contain an AC 

line filter, so an external filter is added between the LIM and IAM. 

Figure A.2 

IAM Power Interconnect Diagram (IAM with LIM) 

L3' 

L2' 

L1' 

IO_PWR2 

IO_COM2 

IO_PWR2 

IO_COM2 

IO_PWR2 

IO_COM2 

IO_PWR1 

COIL_E1 

IO_COM1 

COIL_E2 


1 

2 

3 

4 

1 

2 

3 

4 

5 

6 

1, 3, 5 

7 

2, 4, 6 

8 

Note 4 

Note 4 

To BC connector, IAM_2 

STOP * 

To CPD connector, 

IAM_2 

Note 6 

Three-Phase 

AC Line Filter 

Note 3 

1 

2 

1 

2 

3 

4 

5 

6 

To IPD connector, 

IAM_2 

CTRL 2 

CTRL 1 

DC- 

DC+ 

L3 

L2 

L1 

1 


2 





(IAM_1) 

Power Rail 

Ground Stud 

Control Power 


DC Bus 

and 

3-Phase 

Input (IPD) 

Connector 

Cable Shield 

Clamp 





Note 12 

Motor Power 


To CED connector, IAM_2 

Note 9 

W 

V 

U 

MBRK - 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 

4 

3 

2 

1 

6 

5 

4 

3 

2 

1 

Motor Brake 

Connections 

BR- 

BR+ 

BR- 

BR+ 


Connections 

Three-Phase 

Motor Power 

Connections 

Note 14

From OPL connector, LIM 


Ground Bus* 

From CPL connector, LIM 

From IOL connector, LIM 

and CED connector, IAM_1 

Three-Phase 


Note 3 

1 

2 

1 

2 

3 

4 

5 

6 

CTRL 2 

CTRL 1 

DC- 

DC+ 

L3 

L2 

L1 

1 


2 





(IAM_2) 

Power Rail 

Ground Stud 

Control Power 


DC Bus 

and 

3-Phase 

Input (IPD) 

Connector 

Cable Shield 

Clamp 





Note 12 

Note 9 

Motor Power 


W 

V 

U 

4 

3 

2 

1 

6 

MBRK - 

5 

MBRK + 

4 

COM 

3 

PWR 

2 

DBRK - 

1 

DBRK + 

BR- 

BR+ 

BR- 

BR+ 


Three-Phase 

Motor Power 

Connections 

Note 14 

Motor Brake 

Connections 

From P1L connector, LIM 


Connections 



Three-Phase Input 

195-264V ac RMS 


Notes 1, 2 

24V ac/dc 

or 

120V ac 

50/60 Hz 

Bonded Cabinet Ground Bus * 

Single-Phase Input 


Notes 1, 2 

CR1 * 

M1 * 

Three-Phase 


Note 3 

CR1 * 

Chassis 


The configuration on this page does not include a LIM. You must 

supply input power components. The diagram below is preferred 

because one three-phase line filter is utilized by both control power 

and main input power connections. The three-phase line filter is wired 

upstream of fusing and the M1 contactor. 


Wiring the Contactor Enable relay is required. To 

avoid injury or damage to the drive, wire the 

Contactor Enable relay into your safety control string. 

Figure A.3 

IAM Power Interconnect Diagram (IAM without LIM - Preferred) 

Input Fusing * 

Isolation 

Transformer * 

Notes 5, 6 

Notes 7, 12 

1 

2 

Input Fusing * M1 * 

Notes 7, 8 

STOP * START * 

CR1 * 

Refer to Attention statement (Note 11) 

1 

2 

3 

4 

5 

6 

Power Rail 

Ground Stud 

CTRL 2 

CTRL 1 

DC- 

DC+ 

L3 

L2 

L1 

1 


2 





Control Power 


DC Bus 

and 

3-Phase 

Input (IPD) 

Connector 





Note 12 

Cable Shield 

Clamp 

Note 9 

Motor Power 


Ground Jumper 

Note 10 

MBRK - 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 

W 

V 

U 

4 

3 

2 

1 

6 

5 

4 

3 

2 

1 

BR- 

BR+ 

BR- 

BR+ 

Three-Phase 

Motor Power 

Connections 

Note 14 

Motor Brake 

Connections 

User Supplied 

24V dc (1.2A maximum) 


Connections 

* INDICATES USER SUPPLIED COMPONENT


195-264V ac RMS 


Notes 1, 2 

Bonded Cabinet Ground Bus * 

24V ac/dc 

or 

120V ac 

50/60 Hz 



Notes 1, 2 

CR1 * 

M1 * 

Chassis 


Note 4 

Input Fusing * M1 * 

Notes 7, 8 

CR1 * 

Single-Phase 


Note 3 

Notes 7, 12 


The configuration on this page does not include a LIM. You must 

supply input power components. The diagram below is not preferred 

because two line filters are required. 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 damage to the drive, wire the 

Contactor Enable relay into your safety control string. 

Figure A.4 

IAM Power Interconnect Diagram (IAM without LIM - Alternate) 

STOP * START * 

Isolation 

Transformer * 

Note 5 

Three-Phase 


Note 3 

CR1 * 


1 

2 

1 

2 

3 

4 

5 

6 

Power Rail 

Ground Stud 

CTRL 2 

CTRL 1 

DC- 

DC+ 

L3 

L2 

L1 

1 


2 





Control Power 


DC Bus 

and 

3-Phase 

Input (IPD) 

Connector 





Note 12 

Cable Shield 

Clamp 

Note 9 

Motor Power 


Ground Jumper 

Note 10 

MBRK - 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 

W 

V 

U 

4 

3 

2 

1 

6 

5 

4 

3 

2 

1 

BR- 

BR+ 

BR- 

BR+ 

Three-Phase 

Motor Power 

Connections 

Note 14 

Motor Brake 

Connections 

User Supplied 

24V dc (1.2A maximum) 


Connections 




DC Common Bus 



COMMON BUS FOLLOWER IAM 



Ground Bus* 

CTRL 2 

CTRL 1 

1 

2 


Note 9 

Power Rail 

Ground Stud 

Cable Shield 

Clamp 


COMMON BUS LEADER IAM 



Ground Bus* 

Control Power 


Note 9 

Power Rail 

Ground Stud 

4 

3 

2 

1 

The interconnect wiring for common bus configurations is shown 

beginning below. The example on this page shows a Kinetix 6000 

Leader IAM and Follower IAM connected via the DC common bus. 

Figure A.5 

Leader IAM with Single Follower IAM Power Interconnect Diagram 

Three-Phase 

Motor Power 

Connections 

Note 14 

Cable Shield 

Clamp 

W 

V 

U 

Motor Power 


DC Bus 

and 

3-Phase 

Input (IPD) 

Connector 

DC- 

DC+ 

CTRL 2 

CTRL 1 

1 

2 

L3 

L2 

L1 

1 

2 

3 

4 

5 

6 

Control Power 




Notes 1, 2 

4 

3 

2 

1 

6 

5 

4 

3 

2 

1 

MBRK - 

N.C. 

N.C. 

N.C. 

Three-Phase 

Motor Power 

Connections 

Note 14 

W 

V 

U 

Motor Power 


DC- 

DC+ 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 

DC Bus 

and 

3-Phase 

Input (IPD) 

Connector 



L3 

L2 

L1 

1 

2 

3 

4 

5 

6 



1 

2 

6 

5 

4 

3 

2 

1 

MBRK - 

Three-Phase Input from LIM 

or input power contactor (M1) 

195-264V ac RMS 


Notes 1, 2, 7, 8 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 





Note 12 




Note 12 



1 

2 

Wire the Leader and Follower IAM 

contactor enable terminals in series 

with the safety control string or LIM I/O.

Three-Phase Input (+10/-15%) 

380V ac RMS, 50 Hz 

or 460V ac RMS, 60 Hz 

Notes 1, 2 



2094-BCxx-Mxx 



Ground Bus* 


Ground Bus* 

Note 9 

Power Rail 

Ground Stud 

Three-Phase 


Note 3 

Cable Shield 

Clamp 

8720MC 

REGENERATIVE 

POWER SUPPLY 

8720MC-RPSxxx 

Harmonic 

Filter 

E/N 

Control Power 


CTRL 2 

CTRL 1 

1 

2 



Notes 1, 2 

R S T 

TB1 

4 

3 

2 

1 

G 

R 

Three-Phase 

Motor Power 

Connections 

Note 14 

W 

V 

U 

Motor Power 


DC- 

DC+ 


In the figure below, the 8720MC-RPS regenerative power supply and 

Kinetix 6000 (460V) Follower IAM are shown. 

Figure A.6 

Non-Kinetix 6000 Leader Drive with Single Follower IAM Power Diagram 

L3 

L2 

L1 

1 

2 

3 

4 

5 

6 

N 

P 

TB1 

DC- 

DC+ 

L1 

L2 

L3 

S 

T 

DC Bus 

and 

3-Phase 

Input (IPD) 

Connector 

Line 

Reactors 

N.C. 

N.C. 

N.C. 

M1 * 

Note 7 

Varistor 

Motor Fan Fusing* 

TB3 

To Motor Fan 

I/O (IOD) 

Connector 

+24V_PWR 

ENABLE 

+24V_COM 

1 

2 

3 

COM 

RDY 

TB2 

Motion Control I/O 



1 

2 

6 

5 

4 

3 

2 

1 

MBRK - 

L1 AUX 

L2 AUX 

L3 AUX 

PR1 

PR2 

PR3 

MC1 

MC2 

R1 

S1 

T1 



Note 12 

+24V dc 

PWR 

Customer 

supplied 

120V ac 

MC 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 



Start * 

Note 12 

Stop * 

CR1* 


CR1* 

Use a push-button circuit (instead of a SPST toggle switch) in series with the contactor enable string 

(between the 8720MC-RPS and Kinetix 6000) to allow a drive fault to remove the DC bus power, and 

to prevent the drive from applying DC bus power without the user’s input after clearing a drive fault. 

IMPORTANT 




Ground Bus * 



Notes 1, 2 

Note 4 

Three-Phase Input from LIM 

or input power contactor (M1) 

195-264V ac RMS 


Notes 1, 2, 7, 8 


In the figure below, a Kinetix 6000 Leader IAM is connected to two 

Follower IAMs via the DC common bus. 

Figure A.7 

Leader IAM with Multiple Follower IAM Diagram 

1 

2 

1 

2 

3 

4 

5 

6 

CTRL 2 

CTRL 1 

DC- 

DC+ 

L3 

L2 

L1 

1 


2 



COMMON BUS LEADER IAM 


Power Rail 

Ground Stud 

Control Power 


DC Bus 

and 

3-Phase 

Input (IPD) 

Connector 



Cable Shield 

Clamp 



Note 12 

Note 9 

Motor Power 


MBRK - 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 

W 

V 

U 

4 

3 

2 

1 

6 

5 

4 

3 

2 

1 



with the safety control string or LIM I/O. 

Three-Phase 

Motor Power 

Connections 

Note 14 

To Follower 

DC Bus Connections 

To Follower 

Control Power 

Connections 

To Follower 

Control Circuit 

Connections

From Leader 

Control Power 

Connections 

From Leader 

DC Bus Connections 

From Leader 

Control Circuit 

Connections 

Note 4 

Note 4 

DC Bus Fusing * 

Note 2 

DC Bus Fusing * 

Note 2 


Ground Bus * 

N.C. 

N.C. 

N.C. 


Ground Bus * 

N.C. 

N.C. 

N.C. 

1 

2 

1 

2 

3 

4 

5 

6 

CTRL 2 

CTRL 1 

DC- 

DC+ 

L3 

L2 

L1 

1 


2 


1 

2 

1 

2 

3 

4 

5 

6 

CTRL 2 

CTRL 1 

DC- 

DC+ 

L3 

L2 

L1 

1 


2 





Power Rail 

Ground Stud 

Control Power 


DC Bus 

and 

3-Phase 

Input (IPD) 

Connector 



Cable Shield 

Clamp 



Note 12 



Note 9 

Motor Power 


MBRK - 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 




Power Rail 

Ground Stud 

Control Power 


DC Bus 

and 

3-Phase 

Input (IPD) 

Connector 



Cable Shield 

Clamp 



Note 12 

Note 9 

Motor Power 


MBRK - 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 

W 

V 

U 

W 

V 

U 

4 

3 

2 

1 

6 

5 

4 

3 

2 

1 

4 

3 

2 

1 

6 

5 

4 

3 

2 

1 

Three-Phase 

Motor Power 

Connections 

Note 14 

Three-Phase 

Motor Power 

Connections 

Note 14 




Ground Bus* 


from LIM or input 

power contactor (M1) 

Notes 1, 2, 7, 8 

L3 

L2 

L1 

Non-Kinetix 6000 

COMMON BUS LEADER 

Ground Stud 

DRIVE OK- 

DRIVE OK+ 

DC Bus 

Connections 



DC- 

DC+ 

In the figure below, a non-Kinetix 6000 leader drive and Kinetix 6000 

Follower IAM are shown. 

Figure A.8 

Non-Kinetix 6000 Leader Drive with Single Follower IAM Power Diagram 

Pre-charge 

Circuitry* 



with the safety control string or LIM I/O. 

DC Bus Fusing* 


Ground Bus* 



Notes 1, 2 

N.C. 

N.C. 

N.C. 

1 

2 

1 

2 

3 

4 

5 

6 

CTRL 2 

CTRL 1 

DC- 

DC+ 

L3 

L2 

L1 




Power Rail 

Ground Stud 

1 


2 


Control Power 


DC Bus 

Connections 

Ground 

3-Phase 

Input (IPD) 

Connector 



Cable Shield 

Clamp 



Note 12 

Note 9 

Motor Power 


MBRK - 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 

* INDICATES USER -SUPPLIED COMPONENT 

W 

V 

U 

4 

3 

2 

1 

6 

5 

4 

3 

2 

1 

Three-Phase 

Motor Power 

Connections 

Note 14

Shunt Module Interconnect 

Diagrams 


In the figure below, the Kinetix 6000 Shunt Module is shown wired for 

internal shunt operation. This is the factory default jumper setting. 

Figure A.9 

Internal Shunt Module Interconnect Diagram 

In the figure below, the Kinetix 6000 shunt module is shown wired 

with an external passive shunt resistor. 

IMPORTANT 


SHUNT MODULE 






COL 

INT 

DC+ 

TS2 

TS1 

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 factory installed jumper 

in place on the TS connector. 

Figure A.10 

External Passive Shunt Module Interconnect Diagram 


SHUNT MODULE 






COL 

INT 

DC+ 

TS2 

TS1 

3 

2 

1 

2 

1 

3 

2 

1 

2 

1 

COL 

DC+ 

EXTERNAL PASSIVE 

SHUNT RESISTOR 

Resistor 

Thermal 

Switch 





2094-xCxx-Mxx 

DC Bus 

Connections 

Three-Phase 

Input (IPD) 

Connections 



Note 12 

DC- 

DC+ 

L3 

L2 

L1 


1 

2 

3 

4 

5 

6 



1 

2 


In the figure below, the Kinetix 6000 IAM (without the LIM) is shown 

wired with a Bulletin 1336 external active shunt. 

Figure A.11 

External Active Shunt Module Interconnect Diagram 


115V ac RMS 

50/60 Hz 

1336 Active Shunt Input Fuse Specifications 

Active Shunt Module 

1336- 

Kx005 or Kx010 

KB050 

Input Fusing* 

Note 19 

Description 

1336 Active Shunt Fault Relay Specifications 

1 

2 

3 

4 

5 

6 

1 

2 

3 

4 

(+) Slave In 

(–) Slave In 

(–) Master Out 

(+) Master Out 

(–) DC Bus 

(+) DC Bus 

TB3 

TB1 


CR1* 

START* 

EXTERNAL ACTIVE SHUNT 

RESISTOR (1336-MOD-Kxxxx) 

Fault Relay Note 20 

Shunt chassis 

ground screw 

STOP* 

Notes 7, 12 

CR1* 

1336 Master 

M1* 

CR1* 

Input current requirement to power logic for fault 

contact operation. 

Input current requirement to power fan and logic for 

fault contact operation. 

24V ac/dc 

or 

120V ac 

50/60 Hz 

Input Current 

Requirements 

Parameter Description 120V ac 30V ac 

On State Current Current flow when the contact is closed 0.6A 2.0A 

On State Resistance Contact resistance (maximum) 50 mOhms 50 mOhms 

Off State Voltage Voltage across the contacts when the relay is open 120V ac 30V ac 

0.05A 

0.65A



2094-xCxx-Mxx 

24V ac/dc 

or 

120V ac 

50/60 Hz 



Note 12 

DC Bus 

Connections 

Three-Phase 

Input (IPD) 

Connections 

CR1* 

M1* 


115V ac RMS 

50/60 Hz 

DC- 

DC+ 

L3 

L2 

L1 



1 

2 

3 

4 

5 

6 

Notes 7, 12 

CR1* 

1 

2 

STOP* START* 


In the figure below, the Kinetix 6000 IAM is shown (without a LIM) 

wired with a Bulletin 1336 external active shunt (master) and two 

slave units. 

Figure A.12 

External Active Shunt Module Interconnect Diagram 

CR1* 


Input Fusing* 

Note 19 


Note 4 

Note 4 

Note 4 

5 

6 

1 

2 

3 

4 

5 

6 

1 

2 

3 

4 

5 

6 

1 

2 

3 

4 



(–) DC Bus 

(+) DC Bus 

(–) DC Bus 

(+) DC Bus 

(–) DC Bus 

(+) DC Bus 

TB3 

TB3 

TB3 

TB1 


Shunt chassis 

ground screw 

TB1 

TB1 

(+) Slave In 







Shunt chassis 

ground screw 

1336 Master 

(+) Slave In 




1336 Slave 




Shunt chassis 

ground screw 

(+) Slave In 




1336 Slave 


1 

2 

3 

4 

1 

2 

3 

4 

1 

2 

3 

4


AM/Motor Interconnect 

Diagrams 

0 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 


IAM (inverter) or AM 

Note 13 

Cable Shield 

Clamp 

Note 9 

Motor Power 


Motor Feedback 

(MF) Connector 



Grounding Technique for 

Feedback Cable Shield 

W 

V 

U 

MBRK - 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 

Clamp 

Exposed shield secured 

under clamp. 

Clamp screws (2) 


4 

3 

2 

1 

6 

5 

4 

3 

2 

1 

Turn clamp over to hold 

small cables secure. 

This section contains the motor power, brake, and feedback signal 

interconnect diagrams between an Axis Module and MP-Series, 

1326AB, or F-, H-, N-, and Y-Series servo motors. 

In the figure below, the Kinetix 6000 axis module (460V) is shown 

connected to MP-Series Low Inertia and Integrated Gear (460V) 

motors. 

Figure A.13 

Axis Module to MP-Series (460V) Motor Interconnect Diagram 

Green/Yellow 

1/Blue 

2/Black 

3/Brown 

2090-XXNPMP-xxSxx 

Motor Power Cable 

Note 14 

2090-UXNBMP-18Sxx Brake Cable 

Note 14 

BR- 

BR+ 

Black 

White 

User Supplied 

24V dc (1.2A max.) 


Connections 

Low Profile Connector 

(2090-K6CK-D15M shown) 

D 

C 

B 

A 

C 

A 

D 

C 

B 

A 

C 

A 

MPL-B and MPG-B (460V) 

SERVO MOTORS WITH 

HIGH RESOLUTION FEEDBACK 

W 

V 

U 

BR- 

BR+ 

BR- 

BR+ 

GND 

Three-Phase 

Motor Power 


Motor Brake 

Thermostat 

A 

B 

C 

D 

E 

F 

K 

L 

N 

R 

MPL-B (460V) SERVO MOTORS 

WITH RESOLVER FEEDBACK 

W 

V 

U 

GND 

Three-Phase 

Motor Power 

A 

B 

C 

D 

Motor Feedback G 

H 

R 

Thermostat 

S 

Motor Brake 

S 

P 

BLACK 

WHT/BLACK 

RED 

WHT/RED 

GREEN 

WHT/GREEN 

GRAY 

WHT/GRAY 

ORANGE 

WHT/ORANGE 

BLACK 

WHT/BLACK 

RED 

WHT/RED 

YELLOW 

WHT/YELLOW 

BLUE 

WHT/BLUE 

SIN+ 

SIN- 

COS+ 

COS- 

DATA+ 

DATA- 

+5VDC 

ECOM 

+9VDC 

TS+ 

Refer to Low Profile Connector 

illustration (lower left) 

for proper grounding technique. 

2090-XXNFMP-Sxx 

(flying-lead) Feedback Cable 

Notes 14, 15, 17 

S2 

S4 

S1 

S3 

R1 

R2 

TS+ 

TS- 




2090-CDNFDMP-Sxx 


Notes 14, 15 



(IAM/AM) 

1 

2 

3 

4 

5 

10 

14 

6 

7 

11 



(IAM/AM) 

1 

2 

3 

4 

5 

10 

11 

6

0 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 



Note 13 

Cable Shield 

Clamp 

Note 9 

Motor Power 




W 

V 

U 



MBRK - 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 



Clamp 


under clamp. 


4 

3 

2 

1 

6 

5 

4 

3 

2 

1 

BR- 

BR+ 





connected to MP-Series Low Inertia (MPL) and Integrated Gear (MPG) 

230V servo motors. 

Figure A.14 

Axis Module to MP-Series (230V) Motor Interconnect Diagram 

Green/Yellow 

1/Blue 

2/Black 

3/Brown 



Note 14 


Note 14 

Black 

White 

User Supplied 

24V dc (1.2A max.) 


Connections 



D 

C 

B 

A 

C 

A 

D 

C 

B 

A 

C 

A 

MPL-A and MPG-A (230V) 



W 

V 

U 

BR- 

BR+ 

W 

V 

U 

BR- 

BR+ 

GND 

Three-Phase 

Motor Power 


Motor Brake 

Thermostat 

GND 

A 

B 

C 

D 

E 

F 

K 

L 

N 

R 

MPL-A (230V) SERVO MOTORS 

WITH INCREMENTAL FEEDBACK 

Three-Phase 

Motor Power 


Thermostat 

Motor Brake 

S 

P 

A 

B 

C 

D 

E 

F 

K 

L 

N 

R 

S 

T 

U 

V 

P 

BLACK 

WHT/BLACK 

RED 

WHT/RED 



GRAY 

WHT/GRAY 

ORANGE 

WHT/ORANGE 

BLACK 

WHT/BLACK 

RED 

WHT/RED 



GRAY 

WHT/GRAY 

ORANGE 

WHT/ORANGE 

BLUE 

WHT/BLUE 

YELLOW 

WHT/YELLOW 

SIN+ 

SIN- 

COS+ 

COS- 

DATA+ 

DATA- 

+5VDC 

ECOM 

– 

TS+ 






Notes 14, 15 

AM+ 

AM- 

BM+ 

BM- 

IM+ 

IM- 

+5VDC 

ECOM 

– 

TS+ 

– 

S1 

S2 

S3 






Notes 14, 15 



(IAM/AM) 

1 

2 

3 

4 

5 

10 

14 

6 

7 

11 



(IAM/AM) 

1 

2 

3 

4 

5 

10 

14 

6 

7 

11 

12 

13 

8 



0 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 



Note 13 

Cable Shield 

Clamp 

Note 9 

Motor Power 




W 

V 

U 



MBRK - 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 



Clamp 


under clamp. 



4 

3 

2 

1 

6 

5 

4 

3 

2 

1 

BR- 

BR+ 



In the figure below, the Kinetix 6000 axis module is shown connected 

to MP-Series Food Grade (MPF) and MP-Series Stainless Steel (MPS) 

servo motors. 

Figure A.15 

Axis Module to MP-Series Food Grade and Stainless Steel Motors 

Shield 

Green/Yellow 

Blue 

Black 

Brown 

2090-XXNPMF-xxSxx 


Note 14 

Black 

White 

User Supplied 

24V dc (1.2A max.) 


Connections 



D/ 

C/W 

B/V 

A/U 

G/- 

F/+ 

D/ 

C/W 

B/V 

A/U 

G/- 

F/+ 

MPF-A or MPS-A (230V) 



W GND 

V Three-Phase 

U Motor Power 

BR- 

BR+ 

W 

V 

U 

Thermostat 

Motor Brake 

Note 18 

GND 

Thermostat 

BR- 

BR+ 

Motor Brake 

Note 18 

Motor 

Feedback 

MPF-B or MPS-B (460V) 



Three-Phase 

Motor Power 

Motor 

Feedback 

1 

2 

3 

4 

5 

6 

9 

10 

11 

14 

12 

BLACK 

WHT/BLACK 

RED 

WHT/RED 



GRAY 

WHT/GRAY 

SIN+ 

SIN- 

COS+ 

COS- 

DATA+ 

DATA- 

+5VDC 

ECOM 

1 

2 

3 

4 

5 

10 

14 

6 

ORANGE 

– 

13 WHT/ORANGE TS+ 11 

1 

2 

3 

4 

5 

6 

9 

11 

13 

14 

12 

BLUE 

COM 

BLACK 

WHT/BLACK 

RED 

WHT/RED 



GRAY 

WHT/GRAY 

ORANGE 

WHT/ORANGE 

TS- 

SIN+ 

SIN- 

COS+ 

COS- 

DATA+ 

DATA- 

– 

ECOM 

+9VDC 

TS+ 

1 

2 

3 

4 

5 

10 

10 6 

BLUE TS- 

COM 




2090-XXNFMF-Sxx 


Notes 14, 15 




2090-XXNFMF-Sxx 


Notes 14, 15 



(IAM/AM) 



(IAM/AM) 

7 

11

0 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 



Note 13 

Cable Shield 

Clamp 

Note 9 

Motor Power 






W 

V 

U 

MBRK - 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 

4 

3 

2 

1 

6 

5 

4 

3 

2 

1 



connected to TL-Series (230V) servo motors. 

Figure A.16 

Axis Module to TL-Series (230V) Motor Interconnect Diagram 

Green/Yellow 

Blue 

Black 

Brown 

2090-XXNPT-16Sxx 


Note 14 

2090-DANBT-18Sxx 

Motor Brake Cable 

Note 14 

BR- 

BR+ 

Black 

White 

User Supplied 

24V dc (1.2A max.) 


Connections 

4 

3 

2 

1 

2 

1 

TL-Series (230V) MOTORS 

WITH INCREMENTAL FEEDBACK 

W 

V 

U 

BR- 

BR+ 

GND 

Three-Phase 

Motor Power 


Motor Brake 

1 

2 

3 

4 

5 

10 

7 

8 

BLACK 

WHT/BLACK 

RED 

WHT/RED 



GRAY 

WHT/GRAY 

BLUE 

WHT/BLUE 

AM+ 

AM- 

BM+ 

BM- 

IM+ 

IM- 

+5VDC 

ECOM 

6 S1 

11 

YELLOW 

S2 

15 

9 

WHT/YELLOW S3 

2090-XXNFT-Sxx Feedback Cable 

with pre-molded connector 

Note 14 



(IAM/AM) 

1 

2 

3 

4 

5 

10 

14 

6 

12 

13 

8 



0 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 

0 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 



Note 13 

Cable Shield 

Clamp 

Note 9 

Motor Power 




W 

V 

U 



MBRK - 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 



Note 13 

Cable Shield 

Clamp 

Note 9 

Motor Power 




MBRK - 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 



W 

V 

U 


4 

3 

2 

1 

6 

5 

4 

3 

2 

1 

4 

3 

2 

1 

6 

5 

4 

3 

2 

1 

BR- 

BR+ 


connected to 1326AB-Bxxxx (460V) servo motors. 

Figure A.17 

Axis Module to 1326AB Motor Interconnect Diagram 

Green/Yellow 

1/Blue 

2/Black 

3/Brown 



Note 14 


Note 14 

Black 

White 

User Supplied 

24V dc (1.2A max.) 


Connections 

1326-CPx1-xxx Motor Power Cable 

Note 14 

Green/Yellow 

Braided Shield 

Black 

Black 

Black 

Black 

Black 

User Supplied 

24V dc (1.2A max.) 

BR- 


BR+ 

Connections 

D 

C 

B 

A 

C 

A 

1326AB (M2L/S2L) 



8 

7 

3 

2 

1 

6 

4 

5 

9 

W 

V 

U 

BR- 

BR+ 

T3 

T2 

T1 

B1 

B2 

K1 

K2 

GND 

Three-Phase 

Motor Power 


Motor Brake 

Thermostat 

1326AB SERVO MOTORS 

WITH RESOLVER FEEDBACK 

GND 

Three-Phase 

Motor Power 

Motor Brake 


Shielded Cable 

A 

B 

C 

D 

E 

F 

K 

L 

N 

R 

S 

P 

G 

H 

D 

E 

A 

B 

Thermostat 1 

BLACK 

WHT/BLACK 

RED 

WHT/RED 



GRAY 

WHT/GRAY 

ORANGE 

WHT/ORANGE 


BLACK 

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 Installation Manual (publication 2094-IN001) for wiring 

instructions and a diagram. 

BLACK 

RED 

BLACK 

WHITE 

S2 

S4 

S1 

S3 

R1 

R2 

SIN+ 

SIN- 

COS+ 

COS- 

DATA+ 

DATA- 

– 

ECOM 

+9VDC– 

TS+ 

Refer to the 

Kinetix 6000 Installation Manual 

(publication 2094-IN001) for proper 



Note 14, 15 

1326-CCU-xxx 


Note 14 



(IAM/AM) 

1 

2 

3 

4 

5 

10 

14 

6 

7 

11 



(IAM/AM) 

1 

2 

3 

4 

5 

10 

TS+ 

TS- 

16 

17 

S

0 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 



Note 13 

Cable Shield 

Clamp 

Note 9 

Motor Power 




W 

V 

U 

MBRK - 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 



4 

3 

2 

1 

6 

5 

4 

3 

2 

1 

BR- 

BR+ 



connected to H- and F-Series (230V) servo motors. 

Figure A.18 

Axis Module to H/F-Series Motor Interconnect Diagram 

Green/Yellow 

1/Blue 

2/Black 

3/Brown 

2090-XXNPH/HF-xxSxx 


Note 14 

9101-0330 Brake Cable Connector Kit 

Note 14 

Black 

White 

User Supplied 

24V dc (1.2A max.) 


Connections 

D 

C 

B 

A 

B 

A 

H/F-Series (230V) 


INCREMENTAL FEEDBACK 

W 

V 

U 

BR- 

BR+ 

GND 

Three-Phase 

Motor Power 


Motor Brake 

Thermostat 

A 

B 

C 

D 

E 

F 

R 

P 

K 

J 

L 

M 

N 

T 

H 

S 



Clamp 


under clamp. 


BLACK 

WHT/BLACK 

RED 

WHT/RED 



WHT/BROWN 

BROWN 

GRAY 

WHT/GRAY 

BLUE 

WHT/BLUE 

VIOLET 

WHT/VIOLET 

AM+ 

AM- 

BM+ 

BM- 

IM+ 

IM- 

TS+ 

S3 

+5VDC 

ECOM 

S2 

S1 

– 

TS- 


illustration (below) 


2090-XXNFHF-Sxx 


Note 14, 15 







(IAM/AM) 

1 

2 

3 

4 

5 

10 

11 

8 


14 

6 

13 

12 

6


0 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 



Note 13 

Cable Shield 

Clamp 

Note 9 

Motor Power 




W 

V 

U 

MBRK - 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 



BR- 

BR+ 


4 

3 

2 

1 

6 

5 

4 

3 

2 

1 


connected to N-Series (230V) servo motors. 

Figure A.19 

Axis Module to N-Series Motor Interconnect Diagram 

Green/Yellow 

1/Blue 

2/Black 

3/Brown 

2090-XXNPN-xxSxx 


Note 14 

9101-1698 Brake Cable Connector Kit 

Note 14 

Black 

White 

User Supplied 

24V dc (1.2A max.) 


Connections 

E N/C 

D 

C 

B 

A 

B 

A 

W 

V 

U 

BR- 

BR+ 

C N/C 

N-Series (230V) 



GND 

Three-Phase 

Motor Power 


Motor Brake 

Thermostat 

A 

B 

C 

D 

E 

F 

R 

V 

K 

J 

L 

M 

U 

T 

H 

S 



Clamp 


under clamp. 


BLACK 

WHT/BLACK 

RED 

WHT/RED 



WHT/BROWN 

BROWN 

GRAY 

WHT/GRAY 

BLUE 

WHT/BLUE 

VIOLET 

WHT/VIOLET 

AM+ 

AM- 

BM+ 

BM- 

IM+ 

IM- 

TS+ 

S3 

+5VDC 

ECOM 

S2 

S1 

– 

TS- 






2090-XXNFN-Sxx 


Note 14, 15 





(IAM/AM) 

1 

2 

3 

4 

5 

10 

11 

8 

14 

6 

13 

12 

6

0 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 



Note 13 

Cable Shield 

Clamp 

Note 9 

Motor Power 






W 

V 

U 

MBRK - 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 

4 

3 

2 

1 

6 

5 

4 

3 

2 

1 

Green/Yellow 

3/Black 

2/Black 

1/Black 

2090-XXNPY-xxSxx 

Motor Power and Brake Cable 

Note 14 

BR- 

BR+ 



connected to Y-Series (230V) servo motors. 

Figure A.20 

Axis Module to Y-Series Motor Interconnect Diagram 

Black 

Black 

4 

3 

2 

1 

9 

7 

User Supplied 

24V dc (1.2A max.) 


Connections 

Pigtail 

Y-Series (230V) 



W 

V 

U 

BR- 

BR+ 

GND 

Three-Phase 

Motor Power 

Motor 

Feedback 

Motor 

Brake 

Pigtail 

9 

10 

11 

12 

13 

14 

15 

17 

19 

– 

22 

23 

24 



Clamp 

Exposed shield and drain wire 

secured under clamp. 


BLACK 

WHT/BLACK 

RED 

WHT/RED 



WHT/BLUE 

BLUE 

BROWN 

WHT/BROWN 

GRAY 

WHT/GRAY 

AM+ 

AM- 

BM+ 

BM- 

IM+ 

IM- 

S1 

S2 

S3 

– 

+5VDC 

ECOM 

DRAIN 




2090-XXNFY-Sxx 


Notes 14, 15, 16 







(IAM/AM) 

1 

2 

3 

4 

5 

10 

12 

13 

8 


14 

6


Controlling a Brake 

Example 


The relay output of the Kinetix 6000 (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. 

Kinetix 6000 IAM/AM 

2094-AC05-Mxx, -AC09-Mxx, 

Maximum Brake Current Rating 

2094-AMP5, -AM01, -AM02 

2094-BC01-Mxx, -BC02-Mxx, 

2094-BMP5, -BM01, -BM02 

1.0A 

2094-AC16-Mxx, -AC32-Mxx, 

2094-AM03, -AM05 

1.3A 

2094-BC04-Mxx, -BC07-Mxx, 

2094-BM03, -BM05 

3.0A 

IMPORTANT 

For brake requirements outside of these limits, an 

external relay must be used (refer to Figure A.21 for 

an example). 

The following tables list Allen-Bradley motors and brake coil current 

ratings. 

Coil Currents Rated at < 1.0A Coil Currents Rated at < 1.0A 

Compatible Brake Motors Coil Current Compatible Brake Motors Coil Current 

F-4030, -4050, and -4075 0.69A MPL/MPF/MPS-x310, -x320, -x330 1 

0.50A 

H-3007 and -3016 0.60A MPL-x420, -x430, -x4520, -x4530, -x4540 1 

H-4030, -4050, and -4075 0.69A MPF-x430, -x4530, -x4540 

0.64A 

1 

N-2302, and -2304 0.28A MPG-x004 1 

N-3406, -3412, -4214, and -4220 0.36A MPG-x010 1 

N-5630, -5637, and -5647 0.71A MPG-x025 1 

Y-1002 and -1003 0.26A MPG-x050 1 

Y-2006 and -2012 0.31A MPG-x110 1 

Y-3023 0.37A 

TL-A110P-H, -A120P-H, and -A130P-H 0.208A 

TL-A220P-H and -A230P-H 0.375A 

TL-A2530P-H and -A2540P-H 0.396A 

TL-A410P-H 0.746A 

1 Applies to 230V and 460V motors. 

0.33A 

0.45A 

0.50A 

1.0A 

1326AB-B4xxx 0.88A

1 Applies to 230V and 460V motors. 


Coil Currents Rated > 1.0A and ≤ 1.3A Coil Currents Rated > 1.0A and ≤ 1.3A 


F-6100, -6200, and -6300 1.30A MPL-x520, -x540, -x560, -x580 1 

H-6100, -6200, and -6300 1.13A 

MPF-B540 

1326AB-B5xxx, and -B7xxx 

1.05 to 1.28A 

1.20A 

Coil Currents Rated > 1.3A and ≤ 3.0A Coil Currents Rated > 1.3A and ≤ 3.0A 


H-8350 and -8500 2.20A 

MPL-B640, -B660, -B680, -B860, -B880, 

-B960, -B980 

Figure A.21 shows an example configuration using MBRK± and an 

external relay to control a motor brake which exceeds the drive (IAM/ 

AM) internal relay rating. 

Figure A.21 

Example Configuration Controlling a Motor Brake 



Note 13 

Motor/Resistive 1 


MBRK - 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 

6 

5 

4 

3 

2 

1 

CR1 

CR1 

User Supplied 

24V dc (3.0A max.) 

BR- 

BR+ 

Brake 

Feedback 

Power 

1.91 to 2.19A 

1 For Motor/Resistive Brake (BC) connector specifications, refer to the Kinetix 6000 Installation Manual (publication 

2094-IN001). 


SERVO 

MOTOR 

To avoid damage to the brake contactor, surge 

suppression (flyback diode or MOV, rated at 

appropriate voltage), must be used when controlling 

a brake coil. 



System Block Diagrams 

Three-Phase Motor Output 

Motor/Resistive Brake Connections 


W 

V 

U 

MBRK 

PWR 

DBRK 

Motor Shield 

This section provides block diagrams of the Kinetix 6000 modules. 

IAM/AM Inverter Block Diagram 

Figure A.22 

Inverter Block Diagram 

FUSE_OK 

DC+ 

Common Mode 

Choke 

(460V only) 

DC- 

POWER 

RAIL 

SYSOK 

Shunt Circuit 

(460V only) 

Inverter Section 

SMPS 

CONV_ID (5) 

CTRL 1 

+/-12V (Control) 

+24V (Customer I/O) 

+9V, +5V (Motor Feedback) 

GSHUNT (2) 

CTRL 2 

CAN (2)

DC+ 

DC- 

Common Bus 

Power Connections 

DCL1 DCL2 

DC+ 

Three-Phase 

AC Input 

L1 

L1 

CHASSIS 

Gnd Flt CT 

DC Link 

Inductor 3 

L2 

IAM Converter Block Diagram 

Figure A.23 

Converter Block Diagram 

DC- 

L2 

L3 

Vsns 

Shunt Circuit 2 

Vcc 

120K 

Ground Jumper 4 

POWER 

RAIL 

CONV_OT 

95C 

Chassis 

CTRL- 

DC+ 

DC- 

CTRL+ 

Control Power 

AC Input 

CTRL1 

SYS_OK 

CTRL2 

GSHUNT 

EMC Filter 1 

Control Power 

Loss Detector 

Rectifier Circuit 2 

DROK/ 

CONT_EN 


CONT_EN1 

1 EMC filter present only on 460V converters. 

CONT_EN2 

2 Rectifier and shunt circuits present only on 230V converters. 

3 

Internal DC link inductor present on 460V converters. 

Connectors for external DC link inductor present on 230V 

converters. 

4 

Ground jumper shown in factory default position (grounded 

facility power). 



Motion Allowed Jumper 

(2090-XNSS-MA) 

SYSOK 

GSHUNT (2) 

Wiring Header 

(2090-XNSS-WP) 

POWER 

RAIL 


8 

9 

3 

4 

7 

6 

5 

1 

2 

Safe-Off Feature Block Diagram 

The Kinetix 6000 Safe-Off drives ship with the wiring header and 

motion allowed jumper installed, as shown in the figure below. With 

the motion allowed jumper installed, the safe-off feature is not used. 

Figure A.24 

Safe-Off Feature Block Diagram 

Safe-Off (SO) 

9-pin Connector 

+24V 

+24V_COM 

FDBK1+ 

FDBK1- 

ENABLE1+ 

ENABLE- 

ENABLE2+ 

FDBK2+ 

FDBK2- 

+24V 

DRIVE ENABLE 

+24V_COM 

Safe-Off Option 

SM Block Diagram 

Figure A.25 

Shunt Module Block Diagram 

DC+ 

DC- 

CTRL 1 

CTRL 2 

K1 

K2 

K1-C 

K1-A 

K2-A 

K2-C 

SMPS 

+5V (Control) 

+/-15V (IGBT) 

24V (Control) 

Chassis 

Gate Control 

Power Supply 

Safety Monitor 

uC 

Gate Control 

Enable Signal 

Gate Control 

Circuit (CCP) 

Shunt Circuit 

M 

Internal 

or External 

Shunt 

Resistor

Interface PCB 

OPL 

OPL 

CONSTAT_12 

Interface PCB 

CONSTAT_22 

L3' 

L2' 

L1' 

1 

2 

24V Status LED 

CONSTAT_32 

CONSTAT_54 

3 

4 

1 

2 

3 

4 

IOL 

COIL_A2 

OPL: VAC LOAD 

N/C 

E2 

E1 

A2 

54 

42 

32 

22 

12 

6 

4 

2 

100-JE 

CR1 

PE 

L3' 

L2' 

L1' 

Pin 1 

Pin 2 

Pin 3 

Pin 4 

A1 

A1 

53 

41 

N/C 

31 

21 

11 

5 

3 

1 

IPL 

IPL 

CB1 

LIM Block Diagrams 

Figure A.26 

LIM Block Diagram (2094-AL75S) 

IOL: STATUS I/O 

Pin 1 IO_PWR1 

Pin 2 IO_COM1 

Pin 3 IO_PWR1 

Pin 4 IO_COM1 

Pin 5 IO_PWR1 

Pin 6 IO_COM1 

Pin 7 COIL_E1 

Pin 8 COIL_E2 

Pin 9 ALRM_M 

Pin 10 SHIELD 

Pin 11 ALRM_B 

Pin 12 ALRM_COM 

Pin 13 CONSTAT_11 








Pin 21 SHIELD 

IOL 

1 

2 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 

16 

17 

18 

19 

20 

21 

COIL_E2 

COIL_E1 

CONSTAT_54 

CONSTAT_32 

CONSTAT_22 

CONSTAT_12 

ALRM_COM 

ALRM_B 

COIL_E1 

CONSTAT_53 

CONSTAT_31 

CONSTAT_21 

CONSTAT_11 

2 

4 

6 

1 

3 

L1 

1 

2 

CONSTAT_53 

CONSTAT_31 

CONSTAT_21 

CONSTAT_11 

L2 

5 

L3 

3 

4 

1 

2 

3 

4 

ALRM_B 

B 

M 

1c 

ALRM_COM 

IPL: VAC LINE 

ALRM_M 

COIL_E2 

ALRM_M 

AL 

140U 

20 

PE 

L3 

L2 

L1 

Pin 1 

Pin 2 

Pin 3 

Pin 4 

21 

ALRM_M 

ALRM_COM 

ALRM_B 

P2L: AUXILIARY PWR OUTPUT 

P2L 

LF 1 

CB 2 

AUX1_L2 

AUX1_L1 

AUX2_L2 

AUX2_L1 

Pin 4 

Pin 3 

Pin 2 

Pin 1 

4 

3 

2 

1 

P2L 

4 

3 

2 

1 

COIL_A2 

12 

14 

2 

4 

11 

FB1 

Single Phase, 1-Stage 

Line Filter (230VAC) 

2 

1 

L1' 

L2' 

PE 

3 

4 

1 

3 

4 

1 

2 

3 

L1 

L1 

L2 

L2 

CTRL1 

CTRL2 

L1 

L2 

5 

CPL: CONTROL PWR OUTPUT 

CPL 


CTRL 2 

CTRL 1 

Pin 2 

Pin 1 

2 

1 

CPL 

2 

1 

AUX1_L2 and AUX2_L2 


LF 2 

PS1 

P1L: BRAKE AND I/O OUTPUT 

Pin 6 IO_COM2 

Pin 5 IO_PWR2 

Pin 4 IO_COM2 

Pin 3 IO_PWR2 

Pin 2 IO_COM2 

Pin 1 IO_PWR2 

P1L 

Three Phase, 1-Stage 


CB 3 

6 

5 

4 

3 

2 

1 

P1L 

6 

5 

4 

3 

2 

1 

IO_PWR1 

IO_COM1 

IO_PWR2 

IO_COM2 

20A Power Supply 

24+ 

24- 

24+ 

24- 

L1 

L2 

PE 

L1' 

L2' 

L1 

L2 

L3 

N 

2 

4 

1 

3 

L3' 

N' 


PE 

6 

7 

8 

9 

10 

1 

2 

3 

4


Interface PCB 

OPL 

Interface PCB 

CONSTAT_12 

CONSTAT_22 


CONSTAT_32 

1 

2 

3 

4 


CONSTAT_54 

L3' 

L2' 

L1' 

OPL 

1 

2 

3 

4 

IOL 

COIL_A2 

N/C 

E2 

E1 

A2 

54 

42 

32 

22 

12 

6 

4 

2 

100-JE 

CR1 

PE 

L3' 

L2' 

L1' 

OPL: VAC LOAD 

Pin 1 

Pin 2 

Pin 3 

Pin 4 

A1 

A1 

53 

41 

N/C 

31 

21 

11 

5 

3 

1 

CB1 

IPL 

Figure A.27 

LIM Block Diagram (2094-BL75S) 


Pin 1 IO_PWR1 

Pin 2 IO_COM1 

Pin 3 IO_PWR1 

Pin 4 IO_COM1 

Pin 5 IO_PWR1 

Pin 6 IO_COM1 

Pin 7 COIL_E1 

Pin 8 COIL_E2 

Pin 9 ALRM_M 

Pin 10 SHIELD 

Pin 11 ALRM_B 










Pin 21 SHIELD 

IOL 

1 

2 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 

16 

17 

18 

19 

20 

21 

COIL_E2 

COIL_E1 

CONSTAT_54 

CONSTAT_32 

CONSTAT_22 

CONSTAT_12 

ALRM_COM 

ALRM_B 

COIL_E1 

CONSTAT_53 

CONSTAT_31 

CONSTAT_21 

CONSTAT_11 

2 

4 

6 

1 

3 

L1 

CONSTAT_53 

CONSTAT_31 

CONSTAT_21 

CONSTAT_11 

L2 

5 

L3 

IPL 

1 

2 

3 

4 

1 

2 

3 

4 

ALRM_B 

B 

M 

1c 

ALRM_COM 

IPL: VAC LINE 

ALRM_M 

COIL_E2 

ALRM_M 

AL 

140U 

20 

21 

ALRM_M 

ALRM_COM 

ALRM_B 

PE 

L3 

L2 

L1 

Pin 1 

Pin 2 

Pin 3 

Pin 4 


P2L 

LF 1 

CB 2 

AUX1_L2 

AUX1_L1 

AUX2_L2 

AUX2_L1 

Pin 4 

Pin 3 

Pin 2 

Pin 1 

4 

3 

2 

1 

P2L 

4 

3 

2 

1 

COIL_A2 

12 

14 

2 

4 

11 

TX1 

FB1 



2 

1 

L1' 

L2' 

PE 

3 

4 

1 

3 

4 

1 

2 

3 

L3 

L1 

L1 

L2 

L2 

CTRL1 

CTRL2 

L1 

L2 

5 

460V :: 230V 

750VA 


CPL 

CTRL 2 

CTRL 1 

Pin 2 

Pin 1 

2 

1 

CPL 

2 

1 



LF 2 

PS1 


Pin 6 IO_COM2 

Pin 5 IO_PWR2 

Pin 4 IO_COM2 

Pin 3 IO_PWR2 

Pin 2 IO_COM2 

Pin 1 IO_PWR2 

P1L 



CB 3 

6 

5 

4 

3 

2 

1 

P1L 

6 

5 

4 

3 

2 

1 

IO_PWR1 

IO_COM1 

IO_PWR2 

IO_COM2 


24+ 

24- 

24+ 

24- 

L1 

L2 

L3 

PE 

L1' 

L2' 

L3' 

N' 

L1 

L2 

L3 

N 

2 

4 

6 

1 

3 

5 

PE 

6 

7 

8 

9 

10 

1 

2 

3 

4

Interface PCB 

OPL 

OPL 

Interface PCB 

CONSTAT_12 

CONSTAT_22 

L3' 

L2' 

L1' 

1 

2 


CONSTAT_32 

CONSTAT_54 

1 

2 

3 

4 

IOL 

COIL_A2 

N/C 

E2 

E1 

A2 

54 

42 

32 

22 

12 

6 

4 

2 

100-JE 

CR1 

PE 

L3' 

L2' 

L1' 

OPL: VAC LOAD 

Pin 1 

Pin 2 

Pin 3 

Pin 4 

A1 

A1 

53 

41 

N/C 

31 

21 

11 

5 

3 

1 

IPL 

CB1 

IPL 

Figure A.28 

LIM Block Diagram (2094-XL75S-Cx) 


Pin 1 IO_PWR1 

Pin 2 IO_COM1 

Pin 3 IO_PWR1 

Pin 4 IO_COM1 

Pin 5 IO_PWR1 

Pin 6 IO_COM1 

Pin 7 COIL_E1 

Pin 8 COIL_E2 

Pin 9 ALRM_M 

Pin 10 SHIELD 

Pin 11 ALRM_B 










Pin 21 SHIELD 

IOL 

3 

4 

1 

2 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 

16 

17 

18 

19 

20 

21 

COIL_E2 

COIL_E1 

CONSTAT_54 

CONSTAT_32 

CONSTAT_22 

CONSTAT_12 

ALRM_COM 

ALRM_B 

COIL_E1 

CONSTAT_53 

CONSTAT_31 

CONSTAT_21 

CONSTAT_11 

2 

4 

6 

1 

3 

L1 

1 

2 

CONSTAT_53 

CONSTAT_31 

CONSTAT_21 

CONSTAT_11 

L2 

5 

L3 

3 

4 

1 

2 

3 

4 

ALRM_B 

B 

M 

1c 

ALRM_COM 

IPL: VAC LINE 

ALRM_M 

COIL_E2 

ALRM_M 

AL 

140U 

20 

21 

ALRM_M 

ALRM_COM 

ALRM_B 

PE 

L3 

L2 

L1 

Pin 1 

Pin 2 

Pin 3 

Pin 4 


P2L 

LF 1 

CB 2 

12 

14 

2 

4 

FB1 

11 

APL 

AUX1_L2 

AUX1_L1 

AUX2_L2 

AUX2_L1 

Pin 4 

Pin 3 

Pin 2 

Pin 1 

4 

3 

2 

1 

P2L 

4 

3 

2 

1 

COIL_A2 

2 

1 



1 

3 

4 

3 

L1 

L1 

L2/N 

L2/N 

APL 

2 

1 

2 

1 

CTRL1 

CTRL2 

L1' 

L2' 

PE 

3 

4 

1 

2 

L1 

L2 

5 

APL: AUXILIARY PWR INPUT 

Pin 2 L2/N 

Pin 1 L1 


CPL 


CTRL 2 

CTRL 1 

Pin 2 

Pin 1 

2 

1 

CPL 

2 

1 



LF 2 

PS1 


Pin 6 IO_COM2 

Pin 5 IO_PWR2 

Pin 4 IO_COM2 

Pin 3 IO_PWR2 

Pin 2 IO_COM2 

Pin 1 IO_PWR2 

P1L 



CB 3 

6 

5 

4 

3 

2 

1 

P1L 

6 

5 

4 

3 

2 

1 

IO_PWR1 

IO_COM1 

IO_PWR2 

IO_COM2 


24+ 

24- 

24+ 

24- 

L1 

L2 

PE 

L1' 

L2' 

L3' 

N' 

L1 

L2 

L3 

N 

2 

4 

6 

1 

3 

5 


PE 

6 

7 

8 

9 

10 

1 

2 

3 

4


CONSTAT_12 

OPL: VAC LOAD OUTPUT 

CONSTAT_22 

24V Status LEDs 

CONSTAT_32 

PE 

L3' 

L2' 

L1' 

Pin 4 

Pin 3 

Pin 2 

Pin 1 

OPL 

CONSTAT_42 

L3_OUT 

COIL_A2 

L2_OUT 

L1_OUT 

4 

3 

2 

1 


A2 

42 

32 

22 

12 

2 4 6 


Pin 1 

Pin 2 

Pin 3 

Pin 4 

Pin 5 

Pin 6 

Pin 7 

Pin 8 

IOL 

Figure A.29 

LIM Block Diagram (2094-AL09) 

N/C 

N/C 

N/C 

COIL_A2 

N/C 

CONSTAT_12 

CONSTAT_22 

CONSTAT_32 

CONSTAT_42 

N/C 

N/C 

N/C 

COIL_A1 

N/C 

CONSTAT_11 

CONSTAT_21 

CONSTAT_31 

CONSTAT_41 

N/C 

IO_COM 

IO_COM 

IO_COM 

N/C 

IO_PWR 

IO_PWR 

IO_PWR 

D1 

CR1 

IPL: VAC LINE INPUT 

A1 

41 

31 

21 

11 

1 3 5 

COIL_A1 

PE 

L3 

L2 

L1 

Pin 1 

Pin 2 

Pin 3 

Pin 4 

Pin 9 

Pin 10 

Pin 11 

Pin 12 

Pin 13 

Pin 14 

Pin 15 

Pin 16 

Pin 17 

Pin 18 

Pin 19 

Pin 20 

Pin 21 

Pin 22 

Pin 23 

Pin 24 

Pin 25 

Pin 26 

9 

18 

26 

CONSTAT_42 

CONSTAT_41 

CONSTAT_32 

CONSTAT_31 

CONSTAT_22 

CONSTAT_21 

CONSTAT_12 

CONSTAT_11 

CONSTAT_41 



L1 

L1' 

L2 

L2' 

L3 

L3' 

IPL 

CONSTAT_31 

2 

1 

3 

L1_IN 

CONSTAT_21 

L2_IN 

CONSTAT_11 

4 

6 

5 

L3_IN 

4 

3 

2 

1 

PE 

1 

10 

19 

COIL_A2 

COIL_A1 

IO_PWR 

IO_COM 

CB1 

LF1 

CB2_AUX 

1 2 

IO_PWR 

2 

1 

24+ 

L1 

IO_COM 


4 

3 

24- 

Single-Phase, 1-Stage 


L1 

L1' 

L2 

L2' 

PSL 

L2 

PE 

PE 

PSL: I/O 24V DC OUTPUT 

1 

CB3 

PS2 

MBRK_PWR 

MBRK_COM 

MBRK_PWR 

MBRK_COM 

Pin 1 

Pin 2 

Pin 3 

Pin 4 

LF2 

2 

MBRK_PWR 

3 

24+ 

L1 

4 

MBRK_COM 

24- 


L2 

PE 

PS1 

CPL 

CPL: CONTROL POWER 

L2/N 

2 

1 

L2/N 

L1 

Pin 1 

Pin 2 

1 

L1 

4 

3 

2 

CB2

CONSTAT_12 

OPL: VAC LOAD OUTPUT 

CONSTAT_22 

24V Status LEDs 

CONSTAT_32 

PE 

L3' 

L2' 

L1' 

Pin 1 

Pin 2 

Pin 3 

Pin 4 

OPL 

CONSTAT_42 

L3_OUT 

COIL_A2 

L2_OUT 

L1_OUT 

1 

2 

3 

4 

A2 

42 

32 

22 

12 

2 4 6 


IOL 

Figure A.30 

LIM Block Diagram (2094-BL02) 

N/C 

N/C 

N/C 

COIL_A2 

N/C 

CONSTAT_12 

CONSTAT_22 

CONSTAT_32 

CONSTAT_42 

N/C 

N/C 

N/C 

COIL_A1 

N/C 

CONSTAT_11 

CONSTAT_21 

CONSTAT_31 

CONSTAT_41 

N/C 

IO_COM 

IO_COM 

IO_COM 

N/C 

IO_PWR 

IO_PWR 

IO_PWR 

Pin 1 

Pin 2 

Pin 3 

Pin 4 

Pin 5 

Pin 6 

Pin 7 

Pin 8 

D1 

CR1 

100S-C85 

IPL: VAC LINE INPUT 

A1 

41 

31 

21 

11 

1 3 5 

COIL_A1 

PE 

L3 

L2 

L1 

Pin 4 

Pin 3 

Pin 2 

Pin 1 

Pin 9 

Pin 10 

Pin 11 

Pin 12 

Pin 13 

Pin 14 

Pin 15 

Pin 16 

Pin 17 

Pin 18 

Pin 19 

Pin 20 

Pin 21 

Pin 22 

Pin 23 

Pin 24 

Pin 25 

Pin 26 

9 

18 

26 

CONSTAT_42 

CONSTAT_41 

CONSTAT_32 

CONSTAT_31 

CONSTAT_22 

CONSTAT_21 

CONSTAT_12 

CONSTAT_11 

CONSTAT_41 



L1 

L1' 

L2 

L2' 

L3 

L3' 

IPL 

CONSTAT_31 

2 

1 

3 

L1_IN 

CONSTAT_21 

L2_IN 

CONSTAT_11 

4 

6 

5 

L3_IN 

1 

2 

3 

4 

PE 

1 

10 

19 

COIL_A2 

COIL_A1 

IO_PWR 

IO_COM 

CB1 

LF1 

CB2_AUX 

1 2 

IO_PWR 

2 

1 

24+ 

L1 

IO_COM 


4 

3 

24- 

Single-Phase, 1-Stage 


L1 

L1' 

L2 

L2' 

PSL 

L2 

PE 

PE 

460V to 230V 

750VA XFMR 


PSL: I/O 24V DC OUTPUT 

1 

CB3 

PS2 

MBRK_PWR 

MBRK_COM 

MBRK_PWR 

MBRK_COM 

Pin 1 

Pin 2 

Pin 3 

Pin 4 

LF2 

TX1 

2 

MBRK_PWR 

3 

24+ 

L1 

4 

MBRK_COM 

24- 


L2 

PE 


PS1 

CPL 

CPL: CONTROL POWER 

L2/N 

2 

1 

L2/N 

L1 

Pin 1 

Pin 2 

1 

L1 

4 

3 

2 

CB2


Motor Connections 

(TB2) Connector 

RBM Enclosure 

CR1 

GROUND 

W MTR 

V MTR 

U MTR 

4 

3 

2 

1 

2 

4 

6 

1 

3 

5 

4 

3 

2 

1 

Drive Connections 


GROUND 

W DRIVE 

V DRIVE 

U DRIVE 


RBM Block Diagrams 

Figure A.31 

RBM Block Diagram (2090-XB33-xx) 

Interface PCB 

12 

22 

32 

42 

11 

21 

31 

41 

W BRAKE 

V BRAKE 

U BRAKE 


A1 A2 

I/O Connections 


D1 

TS_21 

TS_22 

CONSTAT_41 

CONSTAT_42 

SHIELD 

COIL_A1 

COIL_A2 

SHIELD 

1 

2 

3 

4 

5 

6 

7 

8 

R3 

R2 

R1 

T1 (fault) 

T2 (warning)



RBM Enclosure 

CR1 

GROUND 

W MTR 

V MTR 

U MTR 

4 

3 

2 

1 

2 

4 

6 

1 

3 

5 

4 

3 

2 

1 



GROUND 

W DRIVE 

V DRIVE 

U DRIVE 

Figure A.32 

RBM Block Diagram (2090-XB120-xx) 


12 

22 

32 

42 

11 

21 

31 

41 

W BRAKE 

V BRAKE 

U BRAKE 


N/C 53 54 N/C 

A1 A2 



DC Interface Module 

E2 

E1 

A1 

TS_21 

TS_22 

CONSTAT_41 

CONSTAT_42 

SHIELD 

COIL_A1 

COIL_A2 

SHIELD 

1 

2 

3 

4 

5 

6 

7 

8 

R3 

R2 

R1 

T1 (fault) 

T2 (warning) 


Interface PCB 





Upgrade Drive Firmware 

Using DriveExplorer 

Upgrade Your Kinetix 6000 Firmware 

Appendix B 

This appendix provides a procedure for upgrading the Kinetix 6000 

firmware using DriveExplorer. 

Upgrading axis module firmware using DriveExplorer (via the DPI 

port) involves setting the Axes to Flash parameter, configuring a 

HyperTerminal session, and flashing the firmware. 


Before you begin this procedure, make sure you have the following: 

Description Catalog Numbers 

Minimum Firmware 

Revision 

DriveExplorer Software 1 9306-4EXP02ENE 2.01 

Smart Self-Powered (DPI) Serial Converter 1203-SSS (Series B) 3.004 

Firmware upgrade file for Kinetix 6000 N/A 2 

N/A 2 

Personal computer with HyperTerminal N/A N/A 


2 Contact Rockwell Automation Technical Support at (440) 646-5800 for firmware upgrade file. 

Select Axis Modules to Upgrade 

In this procedure you will use DriveExplorer software to set the Axes 

to Flash parameter (x708) and allow selective axis module upgrading. 

Note: You will save time by selecting only the axis module(s) that 

require a firmware upgrade. 


B-2 Upgrade Your Kinetix 6000 Firmware 


To set the Axes to Flash parameter: 

1. Apply 95-264V AC to the IAM control power (CPD) connector. 


2. Connect the 1203-SSS serial cable to the appropriate COM port on 

your personal computer. 

3. Connect the 1203-SSS DPI cable to the DPI connector on your 

IAM. 

4. Verify that the 1203-SSS has power by observing the LED indicated 

in Figure B.1. 

Figure B.1 

1203-SSS DPI Adapter 

DPI communication 

To avoid injury or damage to equipment due to 

unpredictable motor activity, do not apply AC 

input (three-phase) power or establish 

communications with the 1756-MxxSE SERCOS 

interface module. 

5. Start the DriveExplorer software. Click on Explore\Connect. 

DriveExplorer proceeds to read your system.

N: P. x xxx 

Linear List Legend 

Parameter Number 

30 = Version Data 

Axis Number 

0 = IAM (axis 1) 

1 = AM (axis 2) 

2 = AM (axis 3) 

3 = AM (axis 4) 

DPI Port Number 

Network Node Number 

Upgrade Your Kinetix 6000 Firmware B-3 

6. Double-click on 2094D SERVO Config 0000. The linear list of 

parameters appears, as shown in the window below. 

7. Scroll down to parameter x:x.30 (Version Data) and record the 

version (VERS: xx.xxx) of each axis module. 

8. Double-click on Configuration. The following window opens. 

9. Double-click on Axes to Flash. The Axis to Flash window opens. 

10. Check each axis to flash (example above shows two axes to flash). 

11. Select OK. The Axes to Flash parameter is set. 

12. Close DriveExplorer. 




HyperTerminal Configuration 

To open and begin a new HyperTerminal session: 

1. From the Windows Start menu, select Programs\Accessories\ 

HyperTerminal\HyperTerminal. The New Connection window 

opens. 

• Name the new HyperTerminal file 

• Choose an icon for the connection 

2. Select OK. The following window opens. 

Select the appropriate COM port 

3. Select OK. The following window opens. Select the following 

properties as shown or as appropriate for your 1203-SSS DPI 

adapter. 

IMPORTANT 

Bits per second of HyperTerminal must match 

the 1203-SSS DPI adapter setting for connection 

to occur.


4. Select OK. HyperTerminal configuration is complete. 

Flash Your Firmware 

This procedure assumes you have identified which axis module(s) 

require flashing, have set the Axes to Flash parameter, and have 

configured a HyperTerminal session. 

IMPORTANT 

You must also know where to find your firmware 

upgrade file. 

1. Press ENTER. The HyperTerminal main menu opens. 



Firmware upgrade file, as provided by Rockwell 

Automation Technical Support at (440) 646-5800. 


2. Enter 3. The following window opens. 

3. Enter 0. The following window opens. 

4. Enter Y. As indicated in the text, the program begins displaying 

the character C. 

Note: Program times-out after 60 seconds. If program times-out 

before you complete steps 5 - 7, return to step 1. 

5. Go to the Transfer menu and select Send File. The Send File 

window opens. Browse for your firmware upgrade file.

6. Select Xmodem protocol. 


7. Select Send. The flash upgrade operation begins and the 

following window opens. 


8. The flash operation completes and the following window opens. 

9. Close the HyperTerminal session. 

To avoid unrecoverable fault to modules, do not 

interrupt control power to IAM, power to the 

1203-SSS DPI adapter, or power to your PC while 

the flash upgrade operation is in progress. 

10. Verify that parameter 30 for each axis module is now upgraded to 

the new firmware revision. Return to DriveExplorer (refer to Select 

Axis Modules to Upgrade, step 6) to see the linear list of 

parameters. 






Integrate Resistive Brake Modules 

with Kinetix 6000 Drives 

Appendix C 

This appendix provides Bulletin 2090 Resistive Brake Module (RBM) 

integration procedures specific to the Allen-Bradley Kinetix 6000 

multi-axis servo drive systems using drive firmware v1.071 (or above). 

The procedure involves setting the time delay parameter using 

RSLogix 5000. 

These procedures assume you have mounted and wired your RBM 

with your Kinetix 6000 drive system. The following publications are 

available to assist you with RBM installation: 

Title Publication Number 

Kinetix 6000 Installation Manual 2094-IN001 

Resistive Brake Module Installation Instructions 2090-IN009 


C-2 Integrate Resistive Brake Modules with Kinetix 6000 Drives 

Understand Safety 

Precautions 


The following precautions apply to resistive brake module installation 

as shown in the interconnect diagrams. Be sure to read and 

thoroughly understand them before proceeding. 


The interconnection diagrams should be used as a 

general recommendation on how the safety control 

circuit may be implemented. Actual applications may 

vary due to requirements based on the machine 

builders risk assessment. The machine builder must 

perform a risk assessment and determine a category 

level of safety that must be applied to the machine. 

Safety Standards for Reference 

• EN 1050 Safety of Machinery - Principles for Risk Assessment 

• EN 60204-1 Safety of Machinery - Electrical Equipment of 

Machines 

• EN 292-1/2 Safety of Machinery - Basic Concepts, General 

Principles for Design 

• EN 954-1 Safety of Machinery - Safety Related Parts of Control 

Systems 

• NFPA 79 Electrical Standard for Industrial Machinery 

• ANSI B11.TR3 Risk Assessment and Risk Reduction. A guide to 

estimate, evaluate, and reduce risks associated with machine tools.

Integrate Resistive Brake Modules with Kinetix 6000 Drives C-3 

Background on Safety Design 

There are numerous safety standards regarding machine design 

including OSHA, NFPA, AMT, CENELEC and ISO. In Europe, CENELEC 

and ISO coordinate the development of standards to which products 

can satisfy the laws of the Machinery Directive. In the United States, 

Standard Development Organizations (SDO) like the NFPA and AMT 

sponsor the development of standards to help companies meet OSHA 

requirements. 

Stop Categories 

One of the most basic safety functions is stopping the machine. The 

stopping function of a machine must fall into one of three categories 

(EN60204-1 and NFPA79). The categories are as follows: 

• Stop Category 0: Stopping by immediate removal of power to the 

machine actuators. 

• Stop Category 1: A controlled stop with power to the machine 

actuators to achieve the stop and then removal of power when the 

stop is achieved. 

• Stop Category 2: A controlled stop with power left available to 

the machine actuators. 

E-Stops are a special case of stops, and have additional requirements 

to those stated above. This appendix is intended to show how a light 

curtain or gate interlock might interface with one axis of motion 

control to achieve a machine stop and this stop may not be the same 

as the E-stop function of a machine. 




Risk Assessment 

The European safety standard (EN 1050) and U.S. technical report 

(ANSI B11.TR3) explain the process of risk assessment, which must be 

conducted by the machine builder. This is done by analyzing the tasks 

that people perform on and around the machine. This includes 

functions such as operation, set up, and maintenance. For the purpose 

of this appendix, the light curtain or gate interlock is intended to focus 

on the operation and perhaps loading/unloading of a machine. 

Additional protective measures must be identified by the risk 

assessment. 

Machinery Directive EN 954-1 Safety Related Parts of Control Systems 

defines how to determine the safety requirements by categorizing the 

risk. This standard outlines the design of fail-safe control circuits by 

categorizing five levels of risk. It is deemed the machine designers 

responsibility to objectively identify a risk level for a particular 

machine and design all safety related systems to that level. The five 

categories are as follows: 

Category B: Safety devices and control systems, as a minimum, must 

be designed, selected, and assembled to meet the operational 

requirements of design limits and influence of the processed materials 

and other external influences listed as: effects of vibration, loss of 

power supply, and external fields. 

Category 1: All conditions of Category B apply, but the safety related 

part of the control system must use well tried principles and 

components (refer to 7.2.2: prEN951-1). The use of single electronic 

components, electronic logic or software is not considered adequate, 

even at this level. 

Category 2: All conditions of Category B apply, but in addition, the 

machine shall be prevented from starting if a fault is detected upon 

power up. This suggests the use of an interface relay with redundancy 

and self-checking on energization. Single channel operation is 

permitted providing that the input devices (E-Stop buttons, gate 

switches, etc.) are tested for operation on a regular basis. If regular 

testing cannot be guaranteed, then the designer has little choice but to 

opt for two channel control. 

Category 3: All conditions of Category B apply, but the complete 

safety control system shall be designed so that any single fault shall 

not lead to the loss of the safety function and, where practical, the 

single fault shall be detected. This now calls for not only redundancy 

in the interface relay but also in the input devices pointing to dual 

channel systems.

Resistive Brake Module 

Interconnect Diagram 

Notes 


Category 4: All the conditions of Category B apply and, in addition, 

any single fault must be detected at or before the next call on the 

safety system, or an accumulation of three faults shall not lead to the 

loss of the safety function. 

Control Reliability 

In the United States the AMT has promoted a concept called Control 

Reliability as part of the ANSI B11.TR3 standard. This standard has 

similar requirements to those in the Machinery Directive EN954-1 

Category 3 risk standard. 

Control Reliability is defined as the ability of a safety system to go into 

a safe state in the event of a failure. In other words, the safety system 

must bring the machine to a safe state in the event of a single fault. 

This section provides interconnect diagrams to assist you in wiring a 

Kinetix 6000 system which includes an RBM. The notes in the table 

below apply to the following example RBM interconnect diagrams. 


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. 

Note Information 

1 Cable shield clamp must be used in order to meet CE requirements. No external connection to ground required. 

2 For motor cable specifications, refer to the Kinetix Motion Control Selection Guide (publication GMC-SG001). 

3 The BRKTMP0 signal can be wired to a ControlLogix input as overtemp warning in user program. 

4 Firmware version 1.071 (or higher) is required to use the DBRK outputs on the Kinetix 6000 IAM or AM. 

5 The safety relay time delay should be set beyond the time required to stop and disable the axis when running at full speed. 

6 Drive Enable Input Checking must be selected in Axis Properties. 





Bulletin 2090 

RESISTIVE BRAKE MODULE 

2090-XBxx-xx 

(RBM_0) 




(Axis_0) 


Ground Bus* 

Note 1 

Note 1 

Power Rail 

Ground Stud 

Cable Shield 

Clamp 

Cable Shield 

Clamp 

D 

C 

B 

A 

4 

3 

2 

1 

W_MTR 

V_MTR 

U_MTR 

W_DRIVE 

V_DRIVE 

4 

3 

2 

1 

4 

3 

2 

1 

W 

V 

U 

CTRL 2 

CTRL 1 

1 

2 


Note 1 

Motor Power 

Connections 





Cable Shield 

Clamp 



2094-AL75S, -BL75S, or 

-XL75S-C2 

GND 

M 

W 

V 

U 

L1 

L2 

L3 

Motor Power 


Control Power 


1 

2 

CTRL 2 

CTRL 1 

Single-Phase Output 


U_DRIVE 

The example diagram below shows Kinetix 6000 IAM, AM, and LIM 

(2094-AL75S, -BL75S, and -XL75S) wired with the Bulletin 2090 RBM. 

Figure C.1 

Example RBM Interconnection Diagram (Category 2 Configuration per EN954-1) 

AUX3 

AUX2 

AUX1 

R3 

R2 

R1 

DC- 

DC+ 

Refer to the Kinetix 6000 

Installation Manual (publication 

2094-IN001) for motor power 

cable catalog numbers. 

Note 2 

2090-XXNRB-14F0P7 

RBM to Drive Interface Cable 

Note 2 

DC Bus 

and 

3-Phase 

Input (IPD) 

Connector 

L3 

L2 

L1 

1 

2 

3 

4 

5 

6 

1 

2 

3 

4 

Three-Phase Output 


L3' 

L2' 

L1' 

L3 

L2 

L1 

1 

2 

3 

4 

Auxiliary 230V ac 

Input (TB4) Connector 

(2090-XB120-xx only) 

L2 

L1 

2 

1 

B 

T1 

SHIELD 

COIL_A2 

6 

5 

4 

3 

2 

1 

MBRK - 

1 

2 

3 

4 

5 

6 



IO_PWR2 

IO_COM2 

IO_PWR2 

IO_COM2 

IO_PWR2 

IO_COM2 

24V dc Output 

(P1L) Connector 



8 

7 

K 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 

A 



B 

COIL_A1 

SHIELD 

CONSTAT_42 

6 

5 

Note 4 

C 

1 

2 

3 

4 

AUX1_L1 

AUX1_L2 

AUX2_L1 

AUX2_L2 

230V ac Output 


AUX4 

4 

3 

BRKSTAT0 

CONSTAT_41 

TS_22 

2 

1 

BRKTMP0 

IO_PWR1 

Note 3 





1 

2 

TS_21 

T2 

2, 4, 6 

8 

1, 3, 5 

7 

IO_COM1 

COIL_E2 

IO_PWR1 

COIL_E1 

I/O (IOL) 

Connector 

K 

IO_PWR1 

L1 

L2/N 

1 

2 

230V ac Auxiliary 

Input Power 

(APL) Connector 


D

D 

Bulletin 2090 


2090-XBxx-xx 

(RBM_1) 


AXIS MODULE 

2094-AMxx or -BMxx 

(Axis_1) 

Note 1 

Note 1 

Cable Shield 

Clamp 

Cable Shield 

Clamp 

Note 1 

Cable Shield 

Clamp 

Latching 

Pushbutton * 

Motor Power 

Connections 





ControlLogix Input Device 

1756-IB16 

GND 

M 

W 

V 

U 

D 

C 

B 

A 

4 

3 

2 

1 

W_MTR 

V_MTR 

U_MTR 

L1 

L2 

L3 

W_DRIVE 

V_DRIVE 

4 

3 

2 

1 

4 

3 

2 

1 

U_DRIVE 

W 

V 

U 

Motor Power 


1 

3 

BRKTMP0 

BRKTMP1 

Note 3 

IN-0 

IN-1 

GND-0 

GND-1 

5 

7 

IN-2 

IN-3 

GND-2 

GND-3 

AUX3 

AUX2 

AUX1 

R3 

R2 

R1 

9 

11 





Note 2 

2090-XXNRB-14F0P7 


Note 2 

IN-4 

IN-5 

GND-4 

GND-5 

IN-6 

IN-7 

GND-6 

GND-7 


BRKSTAT0 

BRKSTAT1 

IN-8 

IN-9 

IN-10 

GND-8 

GND-9 

GND-10 



(2090-XB120-xx only) 

IN-11 

IN-12 

GND-11 

GND-12 

IN-13 

IN-14 

GND-13 

GND-14 

L2 

L1 

2 

1 

C 

T1 

SHIELD 

COIL_A2 

6 

5 

4 

3 

2 

1 

MBRK - 

13 

15 

17 

19 

21 

23 

25 

27 

29 

31 

33 

35 

IN-15 

NOT USED 

NOT USED 

GND-15 

GND-15 

NOT USED 

2 

4 

6 

8 

10 

12 

14 

16 

18 

20 

22 

24 

26 

28 

30 

32 

34 

36 



A 

8 

7 

K 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 



IO_COM 

COIL_A1 

SHIELD 

CONSTAT_42 

6 

5 

Note 4 

AUX4 

4 

3 

BRKSTAT1 


CONSTAT_41 

TS_22 

2 

1 

BRKTMP1 

IO_PWR1 

Note 3 

T2 


TS_21


Bulletin 2090 


2090-XBxx-xx 

(RBM_0) 




(Axis_0) 


Ground Bus* 

Note 1 

Note 1 

Power Rail 

Ground Stud 

Cable Shield 

Clamp 

Cable Shield 

Clamp 

D 

C 

B 

A 

4 

3 

2 

1 

W_MTR 

V_MTR 

U_MTR 

W_DRIVE 

V_DRIVE 

4 

3 

2 

1 

4 

3 

2 

1 

W 

V 

U 

CTRL 2 

CTRL 1 

1 

2 


Note 1 

Motor Power 

Connections 





Cable Shield 

Clamp 



2094-AL09 and -BL02 

GND 

M 

W 

V 

U 

L1 

L2 

L3 

Motor Power 


Control Power 


2 

1 

L1 

L2 



U_DRIVE 

The example diagram below shows Kinetix 6000 IAM, AM, and LIM 

(2094-AL09 and -BL02) wired with the Bulletin 2090 RBM. 

Figure C.2 






Note 2 

AUX3 

AUX2 

AUX1 

R3 

R2 

R1 

2090-XXNRB-14F0P7 


Note 2 

DC Bus 

and 

Three-Phase 

Input (IPD) 

Connector 

DC- 

DC+ 

L3 

L2 

L1 

1 

2 

3 

4 

5 

6 



L3' 

L2' 

L1' 

L3 

L2 

L1 



(2090-XB120-xx only) 

L2 

L1 

2 

1 

1 

2 

3 

4 



MBRK_PWR 

MBRK_COM 

MBRK_PWR 

MBRK_COM 

24V dc Output 


T1 

SHIELD 

COIL_A2 

6 

5 

4 

3 

2 

1 

A 

MBRK - 



8 

7 

K 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 



COIL_A1 

SHIELD 

CONSTAT_42 

6 

5 

Note 4 

AUX4 

4 

3 

BRKSTAT0 

CONSTAT_41 

TS_22 

Note 3 

2 

1 

BRKTMP0 





1 

2 

24-26 

20-22 

IO_PWR 

K 

TS_21 

T2 

13 

4 

IO_PWR 

IO_COM 

COIL_A1 

COIL_A2 

I/O (IOL) 

Connector 

IO_PWR 


B

B 

Bulletin 2090 


2090-XBxx-xx 

(RBM_1) 


AXIS MODULE 

2094-AMxx or -BMxx 

(Axis_1) 

Note 1 

Note 1 

Cable Shield 

Clamp 

Cable Shield 

Clamp 

Note 1 

Cable Shield 

Clamp 

Latching 

Pushbutton * 

Motor Power 

Connections 






1756-IB16 

GND 

M 

W 

V 

U 

D 

C 

B 

A 

4 

3 

2 

1 

W_MTR 

V_MTR 

U_MTR 

L1 

L2 

L3 

W_DRIVE 

V_DRIVE 

4 

3 

2 

1 

4 

3 

2 

1 

U_DRIVE 

W 

V 

U 

Motor Power 


1 

3 

BRKTMP0 

BRKTMP1 

Note 3 

IN-0 

IN-1 

GND-0 

GND-1 

5 

7 

IN-2 

IN-3 

GND-2 

GND-3 

AUX3 

AUX2 

AUX1 

R3 

R2 

R1 

9 

11 





Note 2 

2090-XXNRB-14F0P7 


Note 2 

IN-4 

IN-5 

GND-4 

GND-5 

IN-6 

IN-7 

GND-6 

GND-7 


BRKSTAT0 

BRKSTAT1 

IN-8 

IN-9 

IN-10 

GND-8 

GND-9 

GND-10 



(2090-XB120-xx only) 

IN-11 

IN-12 

GND-11 

GND-12 

IN-13 

IN-14 

GND-13 

GND-14 

L2 

L1 

2 

1 

T1 

SHIELD 

COIL_A2 

6 

5 

4 

3 

2 

1 

MBRK - 

13 

15 

17 

19 

21 

23 

25 

27 

29 

31 

33 

35 

IN-15 

NOT USED 

NOT USED 

GND-15 

GND-15 

NOT USED 

2 

4 

6 

8 

10 

12 

14 

16 

18 

20 

22 

24 

26 

28 

30 

32 

34 

36 



A 

8 

7 

K 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 



IO_COM 

COIL_A1 

SHIELD 

CONSTAT_42 

6 

5 

Note 4 

AUX4 

4 

3 

BRKSTAT1 


CONSTAT_41 

TS_22 

Note 3 

2 

1 

BRKTMP1 

IO_PWR 

T2 


TS_21


Bulletin 2090 


2090-XBxx-xx 

(RBM_0) 




(Axis_0) 


Ground Bus* 

D 

C 

B 

A 

4 

3 

2 

1 

W_DRIVE 

V_DRIVE 

4 

3 

2 

1 

4 

3 

2 

1 


Note 1 

Note 1 

Power Rail 

Ground Stud 

Cable Shield 

Clamp 

Cable Shield 

Clamp 

Note 1 

Motor Power 

Connections 





Cable Shield 

Clamp 



2094-AL75S, -BL75S, or 

W_MTR 

V_MTR 

U_MTR 

L1 

L2 

L3 

Motor Power 


-XL75S-C2 

GND 

M 

W 

V 

U 

W 

V 

U 

Control Power 


CTRL 1 

CTRL 2 

1 

2 

1 

2 

CTRL 2 

CTRL 1 



The example diagram below shows Kinetix 6000 IAM and LIM 

(2094-AL75S, -BL75S, and -XL75S) wired with the Bulletin 2090 RBM. 

Figure C.3 


U_DRIVE 





Note 2 

AUX3 

AUX2 

AUX1 

R3 

R2 

R1 

2090-XXNRB-14F0P7 


Note 2 

DC Bus 

and 

Three-Phase 

Input (IPD) 

Connector 

DC- 

DC+ 

L3 

L2 

L1 

1 

2 

3 

4 

5 

6 

1 

2 

3 

4 



L3' 

L2' 

L1' 

L3 

L2 

L1 

1 

2 

3 

4 



(2090-XB120-xx only) 

L2 

L1 

2 

1 

T1 

SHIELD 

COIL_A2 

6 

5 

4 

3 

2 

1 

MBRK - 

1 

2 

3 

4 

5 

6 

IO_PWR2 

IO_COM2 

IO_PWR2 

IO_COM2 

IO_PWR2 

IO_COM2 



A 

24V dc Output 


8 

7 

K 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 





A 

COIL_A1 

SHIELD 

CONSTANT_42 

6 

5 

Note 4 

1 

2 

3 

4 

AUX1_L1 

AUX1_L2 

AUX2_L1 

AUX2_L2 

230V ac Output 


BRKSTAT0 

AUX4 

4 

3 

E 

CONSTANT_41 

TS_22 

IO_PWR1 

2 

1 

BRKTMP0 

1 

2 

3 

+24V_PWR 


+24V_COM 

I/O (IOD) 

Connector 

Note 6 

IO_PWR1 

TS_21 

Note 3 

T2 





1 

2 

1, 3, 5 

2, 4, 6 

IO_PWR1 

IO_COM1 

I/O (IOL) 

Connector 

7 

8 

COIL_E1 

COIL_E2 

K 


L1 

L2/N 

1 

2 

230V ac Auxiliary 

Input Power 

(APL) Connector 

B C D

B C D E 

IO_PWR1 


1756-IB16 

PWR 

Light Curtain * 

STOPSTAT 

1 

3 

Out2 Out1 COM 

IN-0 

IN-1 

GND-0 

GND-0 

COM 

5 

7 

IN-2 

IN-3 

GND-0 

GND-0 

BRKTMP0 

9 

11 

IN-4 

IN-5 

GND-1 

GND-1 

E-STOP * 

IN-6 

IN-7 

GND-1 

GND-1 

IN-8 

IN-9 

IN-10 

GND-2 

GND-2 


GND-2 

GND-2 

Reset * 

IO_PWR1 IO_PWR1 

IN-11 

IN-12 

GND-3 

GND-3 

IN-13 

IN-14 

A1 S52 S11 S12 S21 S22 S33 S34 13 23 37 47 57 

13 

15 

17 

19 

21 

23 

25 

27 

29 

31 

33 

35 

IN-15 

NOT USED 

NOT USED 

GND-3 

GND-3 

NOT USED 

NOT USED 

2 

4 

6 

8 

10 

12 

14 

16 

18 

20 

22 

24 

26 

28 

30 

32 

34 

36 

COM 

Safety Relay * 

Allen-Bradley/Guardmaster MSR138DP 

Note 5 

A2 X1 X2 X3 X4 Y39 Y40 Y2 Y1 14 24 38 48 58 

ENABLE0 

COIL0 


COM 

BRKSTAT0 

STOPSTAT 



Bulletin 2090 


2090-XBxx-xx 

(RBM_0) 




(Axis_0) 


Ground Bus* 


Note 1 

Note 1 

Power Rail 

Ground Stud 

Cable Shield 

Clamp 

Cable Shield 

Clamp 

Note 1 

Motor Power 

Connections 





Cable Shield 

Clamp 



2094-AL09 and -BL02 

D 

C 

B 

A 

4 

3 

2 

1 

4 

3 

2 

1 

4 

3 

2 

1 

The example diagram below shows Kinetix 6000 IAM and LIM 

(2094-AL09 and -BL02) wired with the Bulletin 2090 RBM. 

Figure C.4 


W_MTR 

V_MTR 

U_MTR 

L1 

L2 

L3 

Motor Power 


GND 

M 

W 

V 

U 

W_DRIVE 

V_DRIVE 

W 

V 

U 

Control Power 


CTRL 1 

CTRL 2 

1 

2 

2 

1 

L1 

L2 



U_DRIVE 

DC- 

DC+ 





Note 2 

AUX3 

AUX2 

AUX1 

R3 

R2 

R1 

2090-XXNRB-14F0P7 


Note 2 

DC Bus 

and 

Three-Phase 

Input (IPD) 

Connector 

L3 

L2 

L1 

1 

2 

3 

4 

5 

6 



L3' 

L2' 

L1' 

L3 

L2 

L1 



(2090-XB120-xx only) 

1 

2 

3 

4 

MBRK_PWR 

MBRK_COM 

MBRK_PWR 

MBRK_COM 



L2 

L1 

2 

1 

24V dc Output 


T1 

SHIELD 

COIL_A2 

6 

5 

4 

3 

2 

1 

MBRK - 

8 

7 

K 

MBRK + 

COM 

PWR 

DBRK - 

DBRK + 





IO_PWR 

COIL_A1 

SHIELD 

CONSTANT_42 

6 

5 

Note 4 



BRKSTAT0 

AUX4 

4 

3 



1 

2 

24-26 

20-22 

D 

CONSTANT_41 

TS_22 

2 

1 

BRKTMP0 

1 

2 

3 

+24V_PWR 


+24V_COM 

13 

4 

IO_PWR 

IO_COM 

COIL_A1 

COIL_A2 

I/O (IOL) 

Connector 

I/O (IOD) 

Connector 

Note 6 

K 

IO_PWR 

TS_21 

Note 3 

T2 


A B C

A B C D 

IO_PWR 


1756-IB16 

PWR 

Light Curtain * 

STOPSTAT 

1 

3 

Out2 Out1 COM 

IN-0 

IN-1 

GND-0 

GND-0 

COM 

5 

7 

IN-2 

IN-3 

GND-0 

GND-0 

BRKTMP0 

9 

11 

IN-4 

IN-5 

GND-1 

GND-1 

E-STOP * 

IN-6 

IN-7 

GND-1 

GND-1 

IN-8 

IN-9 

IN-10 

GND-2 

GND-2 


GND-2 

GND-2 

Reset * 

IO_PWR IO_PWR 

IN-11 

IN-12 

GND-3 

GND-3 

IN-13 

IN-14 

A1 S52 S11 S12 S21 S22 S33 S34 13 23 37 47 57 

13 

15 

17 

19 

21 

23 

25 

27 

29 

31 

33 

35 

IN-15 

NOT USED 

NOT USED 

GND-3 

GND-3 

NOT USED 

NOT USED 

2 

4 

6 

8 

10 

12 

14 

16 

18 

20 

22 

24 

26 

28 

30 

32 

34 

36 

COM 

Safety Relay * 

Allen-Bradley/Guardmaster MSR138DP 

Note 5 

A2 X1 X2 X3 X4 Y39 Y40 Y2 Y1 14 24 38 48 58 

ENABLE0 

COIL0 


COM 

BRKSTAT0 

STOPSTAT 



Set the RBM Delay Time 

Using DriveExplorer 


In this procedure you will break SERCOS ring communications, set the 

delay time parameter using DriveExplorer software, and re-establish 

SERCOS communication. 

If you are using this version 

of RSLogix 5000 software 

v11 or v12 

v13 or above 

Then 

The following hardware and software tools are required to provide 

the necessary communication link between your PC and the Kinetix 

6000 drive system running RSLogix 5000. 


2 Refer to 1203-SSS (Series B) FRN 3.xxx User Manual (publication 20COMM-UM001) for instructions. 

3 

Additional information regarding these communication and software tools is available at www.ab.com/ 

support/abdrives. 

Remove SERCOS Communication 

Proceed with these instructions using DriveExplorer to 

set the RBM delay time parameter. 

Go to Configure Axis Properties on page 1-24 and use 

RSLogix 5000 to set the RBM delay time parameter. 

Description Catalog Numbers Version 

DriveExplorer Software 1, 3 9306-4EXP02ENE 2.01 or above 

Serial to SCANport Adapter 2, 3 1203-SSS (Series B) 3.004 or above 

RSLogix 5000 Software 9324-RLD300NE 11.0 or 12.0 

Personal computer with HyperTerminal N/A N/A 


To avoid personal injury or equipment damage, 

at least one end of a SERCOS fiber-optic cable 

must be disconnected from the drive. This 

ensures that motion will not occur while 

changes are made to the time delay parameter. 

To remove (break) SERCOS communications: 

1. Remove three-phase and control power from the Kinetix 6000 

drive system. 

2. Remove one of the SERCOS fiber-optic cables. Fiber-optic cable 

connections (Tx and Rx) are located on the top of each IAM/AM. 

3. Re-apply three-phase and control power.


Set the RBM Delay Time Parameter 

To set the RBM delay time parameter: 

1. Start the DriveExplorer software. 

2. Click on Explore\Connect\Local in the menu bar or enter 

Ctrl-L from the keyboard. DriveExplorer will read your system. 

3. Observe the Linear List of parameters as grouped by Node, Port, 

and Axis hierarchy as shown below. 


N: P. x xxx 



Axis Number 


1 = AM (axis 2) 

2 = AM (axis 3) 

3 = AM (axis 4) 



4. Click on Devices\Node\Product\Axis x Group\Config and 

navigate to the Config parameters as shown below. 




5. Double-click on the x:x:x641 RBM Delay parameter. The 

command window for parameter x641 - RBM Delay opens. 

6. Click on the Value Edit tab and enter the delay time Value (ms). 

The recommended RBM delay time is 71 ms. 

7. Select OK. The RBM delay time is changed, but not saved in 

non-volatile memory. 

Save the Delay Time Parameter to Non-Volatile Memory 

To save the delay time parameter to non-volatile memory: 

1. Click on Actions\Non-Volatile Memory in the menu bar. The 

following message window opens. 

2. Click on Save. The changes are saved to non-volatile memory and 

the following cautionary message window opens.


3. Click on Yes to complete saving changes to non-volatile memory. 

The following confirmation message window opens. 

4. Click OK. 

5. 

If you Then 

Have another RBM in the 

Kinetix 6000 system 

Do not have another RBM 

in the Kinetix 6000 system 

Reconnect SERCOS Communication 

To reconnect SERCOS communication: 


drive system. 

2. Replace the SERCOS fiber-optic cable(s) removed earlier. 

Fiber-optic cable connections (Tx and Rx) are located on the top 

of each IAM/AM. 

3. Re-apply three-phase and control power. 

Go to Set the RBM Delay Time 

Parameter (step 4). 

1. Close DriveExplorer. 

2. Go to Reconnect SERCOS 

Communication. 






DC Common Bus Applications 

Appendix D 

This appendix provides integration procedures specific to the Kinetix 

6000 multi-axis servo drive systems configured for DC common bus 

and using drive firmware v1.85 (or above). The procedure involves 

calculating capacitance values and setting the Add Bus Cap parameter 

using DriveExplorer software. 

These procedures assume you have mounted and wired your Kinetix 

6000 DC common bus system. Refer to the Kinetix 6000 Installation 

Manual (publication 2094-IN001) for mounting and wiring 

information. 

Before you set the Additional Bus Capacitance (Add Bus Cap) 

parameter in DriveExplorer, you need to calculate the following 

values using the tables provided: 

• Total Bus Capacitance 

• Additional Bus Capacitance 


D-2 DC Common Bus Applications 


Calculate Total Bus Capacitance 

Total bus capacitance is the sum of all capacitance values for your 

Kinetix 6000 common bus modules. Specifically, this includes the 

capacitance values for the following modules: 

• Leader IAM (converter and inverter) 

• Each AM and SM (if present) on the Leader IAM power rail 

• Each Follower IAM (converter and inverter) 

• Each AM on the Follower IAM power rails 

Refer to Kinetix 6000 Capacitance Values on page D-3 for IAM/AM/ 

SM capacitance values. 

IMPORTANT 

Leader IAM (230V) 

2094- 

When total bus capacitance exceeds the Leader IAM 

maximum value given in the table below, the IAM 

seven-segment LED displays error code E90 

(pre-charge timeout fault) and the drive is disabled. 

Maximum Bus 

Capacitance 

µF 

Leader IAM (460V) 


AC05-MP5 

AC05-M01 

7145 

BC01-MP5 

BC01-M01 

4585 

AC09-M02 15295 BC02-M02 8955 

AC16-M03 34400 BC04-M03 8955 

AC32-M05 62825 BC07-M05 17915 

IMPORTANT 

Maximum Bus 

Capacitance 

µF 

If your total bus capacitance value exceeds the value 

in the table above, you must increase the size of the 

Leader IAM or decrease the total bus capacitance by 

removing axis modules.

Calculate Additional Bus Capacitance 

DC Common Bus Applications D-3 

Additional bus capacitance is the sum of all Follower IAM and AM 

capacitance values for your Kinetix 6000 common bus modules. 

Specifically, this includes the capacitance values for the following 

modules: 

• Each Follower IAM (converter and inverter) 

• Each AM on the Follower IAM power rails 

Enter the additional bus capacitance value in step 6 of Set the 

Additional Bus Capacitance Parameter. 

Kinetix 6000 Capacitance Values 

Use the tables below when calculating total bus capacitance and 

additional bus capacitance for your Kinetix 6000 common bus 

application. 

IAM/AM (230V) Modules 

IAM Converter (230V) 


IAM/AM (460V) Modules 

SM (230/460V) Module 

Capacitance 

µF 

AM Inverter (230V) 


AC05-MP5 

AC05-M01 

270 

AMP5 

AM01 

390 

660 

AC09-M02 540 AM02 780 

AC16-M03 1320 AM03 1320 

AC32-M05 1980 AM05 2640 

IAM Converter (460V) 


Capacitance 

µF 

AM Inverter (460V) 


BC01-MP5 

BC01-M01 

110 

BMP5 

BM01 

75 

150 

BC02-M02 220 BM02 270 

BC04-M03 940 BM03 840 

BC07-M05 1410 BM05 1175 

SM (230-460V) 


BSP2 470 

Capacitance 

µF 

Capacitance 

µF 

Capacitance 

µF 



Three-Phase 

Input Power 

Line Interface 

Module 

(optional 

component) 


MAIN VAC 

AC Line 

Filter 

Kinetix 6000 (230V) 

Follower IAM 

Common Bus Capacitance Example 

In the figure below, the sum of the Leader IAM power rail modules 

capacitance (6530 µF) and the Follower IAM power rail modules 

capacitance (5280 µF) equals 11810 µF Total Bus Capacitance. 

The sum of the Follower IAM power rail modules equal 5280 µF 

Additional Bus Capacitance. 

Figure D.1 

Calculating Common Bus Capacitance 

Kinetix 6000 (230V) 

Leader IAM 

DC Common Bus 

5280 µF Additional Bus Capacitance 

PRF (2094-PRF) N/A 

AM (2094-AM03) 1320 µF 


IAM (2094-AC16-M03) Converter 1320 µF 

IAM (2094-AC16-M03) Inverter 1320 µF 

11810 µF Total Bus Capacitance 

PRF (2094-PRF) N/A 

SM (2094-BSP2) 470 µF 




IAM (2094-AC16-M03) Converter 1320 µF 

IAM (2094-AC16-M03) Inverter 1320 µF

Set the Additional Bus 

Capacitance Parameter 


In this procedure you will set the Add Bus Cap parameter using 

DriveExplorer software. 

The following hardware and software tools are required to provide 

the necessary communication link between your PC and the Kinetix 

6000 drive system running DriveExplorer. 

Description Catalog Numbers Version 

DriveExplorer Software 1, 3 9306-4EXP02ENE 2.01 or above 

Serial to SCANport Adapter 2, 3 1203-SSS (Series B) 3.004 or above 

RSLogix 5000 Software 9324-RLD300NE 15.0 or above 


2 Refer to 1203-SSS (Series B) FRN 3.xxx User Manual (publication 20COMM-UM001) for instructions. 

3 

Additional information regarding these communication and software tools is available at www.ab.com/ 

support/abdrives. 


To avoid personal injury or equipment damage, at 

least one end of a SERCOS fiber-optic cable must be 

disconnected from the drive. This ensures that 

motion will not occur while changes are made to the 

Add Bus Cap parameter. 

Remove SERCOS Communication 

To remove (break) SERCOS communications: 


drive system. 

2. Remove one of the SERCOS fiber-optic cables. Fiber-optic cable 

connections (Tx and Rx) are located on the top of each IAM/AM. 

3. Re-apply three-phase and control power. 




Set the Additional Bus Capacitance Parameter 

To set the Additional Bus Capacitance parameter: 

1. Start the DriveExplorer software. 

2. Click on Explore\Connect\Local in the menu bar or enter 

Ctrl-L from the keyboard. DriveExplorer will read your system. 

3. Observe the Linear List of parameters as grouped by Node, Port, 

and Axis hierarchy as shown below. 

N: P. x xxx 




Axis Number 


1 = AM (axis 2) 

2 = AM (axis 3) 

3 = AM (axis 4) 



4. Click on Devices\Node\Product\ and navigate to the parameter 

x:x:x599 as shown below.


5. Double-click on the x:x:x599 Add Bus Cap parameter. The 

command window for parameter x599 - Add Bus Cap opens. 

6. Click on the Value Edit tab and enter the Add Bus Cap Value (µF). 

7. Select OK. The Add Bus Cap parameter is changed, but not saved 

in non-volatile memory. 

8. Go to Save the Add Bus Cap Parameter to Non-Volatile Memory. 

Save the Add Bus Cap Parameter to Non-Volatile Memory 

To save the Add Bus Cap parameter to non-volatile memory: 

1. Click on Actions\Non-Volatile Memory in the menu bar. The 

following message window opens. 




2. Click on Save. The changes are saved to non-volatile memory and 

the following cautionary message window opens. 

3. Click on Yes to complete saving changes to non-volatile memory. 

The following confirmation message window opens. 

4. Click OK. Close DriveExplorer. 

5. Go to Reconnect SERCOS Communication. 

Reconnect SERCOS Communication 

To reconnect SERCOS communication: 


drive system. 

2. Replace the SERCOS fiber-optic cable(s) removed earlier. 

Fiber-optic cable connections (Tx and Rx) are located on the top 

of each IAM/AM. 

3. Re-apply three-phase and control power.

Numerics 

1203-SSS serial cable B-2, B-4 

16 axis SERCOS interface PCI 

card installation instructions 

P-3 

1756 module properties 1-18 

1756-MxxSE interface module 

1-9, 1-16 

1784-PM16SE PCI card 1-9 

24V power LED 2-12 

26-pin I/O connector 2-20 

A 

acronyms P-4 

additional bus capacitance 

calculating D-3 

example D-4 

analog test points 

DAC0 2-20 

DAC1 2-20 

applying power 1-26 

with LIM 1-26 

without LIM 1-30 

atune fault 2-6 

aux fdbk noise fault 2-6 

aux feedback AQB 2-6 

aux feedback loss 2-6 

auxiliary encoder error, 

see troubleshooting 

axis module 

connector designators 1-2 

connector locations 1-4 

axis properties 1-24 

axis unstable 2-14 

B 

backplane comm 2-7 

bandwidth 1-37 

base node address 1-10 

example with two 

ControlLogix chassis 1-12, 

1-13 

example with two power rails 

1-11 

baud rate 1-14, 1-15 

block diagrams 

converter A-27 

inverter A-26 

LIM A-29, A-30, A-31, A-32, 

Index 

A-33 

RBM A-34, A-35 

safe-off feature A-28 

shunt module A-28 

blown fuse 2-3 

brake A-24 

brake power LED 1-27, 2-12 

bus 

overvoltage 2-4 

undervoltage 2-4 

bus overcurrent 2-7 

bus regulator 1-22 

bus status LED 1-29, 1-32, 2-9, 

2-11 

C 

cables 

fiber optic cable length 1-9 

CAD files P-3 

can init 2-7 

CB1, CB2, CB3 1-26 

certifications 

Rockwell Automation Product 

Certification P-3 

changing parameters 

DriveExplorer 2-19 

HIM 2-20 

circuit breakers 1-26 

comm status LED 1-29, 1-31, 2-8 

commissioning your Kinetix 6000 

1-1 

common bus (see DC common 

bus) 

Common Bus FLT 2-7 

component removal and 

replacement 2-22 

configuring 

AM 1-15 


baud rate, AM 1-15 

baud rate, IAM 1-14 

feedback only axis 1-21 

IAM 1-10 

Kinetix 6000 1-9 

optical power level 1-14, 1-15 

SERCOS module 1-16 

connector designators 

axis module 1-2 

integrated axis module 1-2 

line interface module 1-6 


I-2 Index 


shunt module 1-5 

connector locations 

axis module 1-4 

integrated axis module 1-3 

line interface module 1-6, 1-8 


contents of manual P-2 

control reliability C-5 

controller properties 1-16 

controlling a brake A-24 

Controllogix Motion Module 

Programming Manual P-3 

conventions used in this manual 

P-4 

conversion tab 1-24 


coordinated system time master 

1-17 

CPLD FLT 2-7 

cycle time 1-19 

D 

DAC0 2-20 

DAC1 2-20 

data rate 1-19 

data type 1-20 

date and time tab 1-17 

DC common bus 

configuring 1-22 

interconnect diagram A-8, A-9, 

A-10, A-12 

setting the add bus cap 

parameter D-5 

digital I/O not working correctly 

2-3 

dip switches 1-19 

disable drive 2-16 

documentation files P-3 

download program 1-25 

drive enable fault 2-5 

drive overcurrent 2-3 

drive overtemp 2-5, 2-7 

drive status LED 1-29, 1-31, 2-8 

drive tab 1-24 

drive undervoltage 2-5 

DriveExplorer 2-19, B-1, C-14, 

D-5 

E 

encoder communication fault 2-5 

erratic operation 2-15 

error codes 2-3 

establishing communications 2-8 

F 

fault action 2-16 

fault action, programmable 2-16 

fault actions tab 1-25 

feedback only axis 1-21 

feedback tab 1-24 

fiber optic cables 

receive and transmit 

connectors 1-9 

Fiber-Optic Cable Installation 

Instructions P-3 

firmware 

upgrade file B-6 

flyback diodes A-25 

follow error 2-4 

G 

ground fault 2-5 

H 

hardware overtravel 2-4 

HIM 2-19 

hookup fault 2-6 

hookup tab 1-34 

human interface module (HIM) 

2-19 

hyperterminal B-4 

I 

I/O connector 2-20 

I/O power LED 1-27, 2-12 

Ifbk HW Fault 2-6 

illegal hall state 2-4 

integrated axis module 





A-6, A-7, A-8, A-9, A-10, 

A-12 

interconnect diagrams 

2094 with H-Series motor A-21 

2094 with MPG-A motor A-17, 

A-18, A-19

2094 with MPG-B motor A-16 

2094 with MPL-A motor A-17, 

A-18, A-19 

2094 with MPL-B motor A-16 

2094 with N-Series motor A-22 

2094 with Y-Series motor A-23 

2094 with1326AB motor A-20 

controlling a brake example 

A-25 

notes A-1, C-5 

power, DC common bus A-8, 

A-9, A-10, A-12 

power, IAM with LIM A-3, A-4 

power, IAM without LIM A-6, 

A-7 

RBM C-6 

shunt module A-13, A-14, A-15 

introduction P-1 

inverter A-26 

IPM fault, see troubleshooting 

K 


axis properties 1-24 


Installation Manual P-3 

Line Interface Module 

Installation Instructions P-3 

module properties 1-20 

troubleshooting 2-1 

user documentation and CAD 

files CD P-3 

Kinetix Motion Control Selection 

Guide P-3 

Kinetix Safe-Off Feature 

Reference Manual P-3 

L 

LED 

24V power, LIM 2-12 

brake power, LIM 1-27, 2-12 

bus status 1-29, 1-32, 2-9, 2-11 

comm status 1-29, 1-31, 2-8 

drive status 1-29, 1-31, 2-8 

I/O power, LIM 1-27, 2-12 

logic power 1-28, 1-30, 2-2 

RBM 230V status 2-13 

RBM 24V status 2-12 

SERCOS 1756 module 1-32 

SERCOS interface module 1-29 

Index I-3 

seven segment 1-28 

shunt fault 2-11 

status 1-28, 1-31, 1-33, 2-2 

temperature fault 2-11 

LIM 1-26 

line interface module 

brake power LED 1-27 


connector locations 1-6, 1-8 

I/O power LED 1-27 


A-6, A-7 

removing 2-27 

replacing 2-28 

system block diagram A-29, 

A-30, A-31, A-32, A-33 

Literature Library P-3 

logic power 1-30, 2-2 

logic power LED 1-28 

Logix5000 Controllers Motion 

Instructions Reference Manual 

P-3 


Manual P-3, 1-16, 1-33 

loop configuration 1-24 

M 

maintenance 2-2 

memory init 2-6 

module mismatch 2-7 

module properties 

1756 SERCOS interface 1-18 

IAM 1-20 

Motion Analyzer CD P-3 

Motion Control Selection Guide 

P-3 

motion group properties 1-23 

motor accel/decel problems 2-14 

motor and feedback tab 1-24 

motor encoder error 2-4 

motor feedback loss 2-4 

motor jumps when first enabled 

2-3 

motor overheating 2-15 

motor overtemp 2-3 

motor velocity 2-14 

motors 

interconnect diagram 

1326AB A-20 

H-Series A-21 


I-4 Index 


MPG-A A-17, A-18, A-19 

MPG-B A-16 

MPL-A A-17, A-18, A-19 

MPL-B A-16 

N-Series A-22 

Y-Series A-23 

testing 1-33 

tuning 1-33 

MOV A-25 

mtr fdbk noise fault 2-6 

N 

National Electrical Code P-3 

no communication 2-8 

no rotation 2-15 

node address 1-20 

noise 

abnormal 2-15 

feedback 2-15 

NV mem init 2-6 

O 

objects init 2-6 

optical power level 1-14, 1-15, 

1-19 

overspeed fault 2-4 

P 

parameters, changing 2-19 

power indicator not on 2-3 

power phase loss 2-5 

power rail 

removing 2-25 

removing modules 2-23 

replacing 2-26 

power up 1-26 

precautions 

general startup 1-1 

precharge fault 2-5 

purpose of this manual P-1 

R 

related documentation P-3 

relay output A-24 

removing 

components 2-22 

LIM 2-27 

modules 2-23 

replacing 

components 2-22 

LIM 2-28 

power rail modules 2-24 

resistive brake module 

interconnect diagrams C-6 

setting the RBM delay time 

C-14 

system block diagram A-34, 

A-35 


Installation Instructions P-3 

risk assessment C-4 

Rockwell Automation Product 

Certification P-3 

RSLogix 5000 software 1-16, 2-19, 

C-14, D-5 

S 

safe-off 

block diagram A-28 

safe-off HW fault 2-6 

safety 

control reliability C-5 

risk assessment C-4 

standards C-2 

stop categories C-3 

safety reference manual P-3 

SCANport comm 2-6 

SCANport/DPI adapter C-14, D-5 

self sense fault 2-5 

SERCOS init 2-7 

SERCOS interface module 

installation instructions P-3 

SERCOS ring fault 2-5 

SERCOS same addr 2-6 

setting the add bus cap parameter 

D-5 

seven segment status LED 1-28, 

1-30 

shunt fault LED 2-11 




interconnect diagram A-13, 

A-14, A-15 

shunt module troubleshooting 

2-10 

shunt time fault 2-7 

shunt time out 2-7

shutdown 2-16 


Configuration Manual P-3, 

1-16, 1-33 

software 

RSLogix 5000 1-16, 2-19 

software overtravel 2-4 

start-up procedure 1-1 

status LEDs 1-28, 1-31, 1-33, 2-2 

status only 2-16 

stop categories C-3 

stop motion 2-16 

storage P-2 

supplemental troubleshooting 

information 2-19 

surge suppression A-25 

switches 


baud rate 1-14, 1-15 

optical power level 1-14, 1-15 

system block diagrams 


inverter A-26 

LIM A-29, A-30, A-31, A-32, 

A-33 

RBM A-34, A-35 

safe-off feature A-28 


System Design for Control of 

Electrical Noise P-3 

T 

task init 2-6 

temperature fault LED 2-11 

testing axes 

hookup tab 1-34 

total bus capacitance 

calculating D-2 

example D-4 

troubleshooting 2-2 

24V power LED 2-12 

brake power LED 2-12 

bus status LED 2-9, 2-11 

comm status 2-8 

disable drive 2-16 

drive status LED 2-8 

error codes 2-3 

fault action 2-16 

general 

atune fault 2-6 

Index I-5 

aux fdbk noise fault 2-6 

aux feedback AQB 2-6 

aux feedback loss 2-6 

auxiliary encoder error 

2-4 

backplane comm 2-7 

blown fuse 2-3 

bus overcurrent 2-7 

bus undervoltage 2-4 

can init 2-7 

Common Bus FLT 2-7 

CPLD FLT 2-7 

digital I/O not working 

correctly 2-3 

drive enable fault 2-5 

drive overcurrent 2-3 

drive overtemp 2-5, 2-7 

drive undervoltage 2-5 

encoder communication 

fault 2-5 

follow error 2-4 

ground fault 2-5 

hardware overtravel 2-4 

hookup fault 2-6 

Ifbk HW Fault 2-6 

illegal hall state 2-4 

IPM fault 2-3 

memory init 2-6 

module mismatch 2-7 

motor encoder error 2-4 

motor feedback loss 2-4 

motor jumps when first 

enabled 2-3 

motor overtemp 2-3 

mtr fdbk noise fault 2-6 

NV mem init 2-6 

objects init 2-6 

overspeed fault 2-4 

power indicator not on 

2-3 

power phase loss 2-5 

precharge fault 2-5 

safe-off HW fault 2-6 

SCANport comm 2-6 

self sense fault 2-5 

SERCOS init 2-7 

SERCOS ring fault 2-5 

SERCOS same addr 2-6 

shunt module fault 2-7 

shunt time out 2-7 

software overtravel 2-4 


I-6 Index 


task init 2-6 

unknown axis 2-6 

general system problems 2-14 

abnormal noise 2-15 

axis unstable 2-14 

erratic operation 2-15 

feedback noise 2-15 

motor accel/decel 

problems 2-14 

motor overheating 2-15 

motor velocity 2-14 

no rotation 2-15 

I/O power LED 2-12 

Logix/drive fault behavior 2-16 

programmable fault action 

2-16 

RBM 230V status LED 2-13 

RBM 24V status LED 2-12 

shunt fault LED 2-11 


shutdown 2-16 

status only 2-16 

stop motion 2-16 

supplemental troubleshooting 

information 2-19 

changing parameters 

2-19 

using analog test points 

2-20 

temperature fault LED 2-11 

troubleshooting your Kinetix 

6000 2-1 

tuning axes 

bandwidth 1-37 

tune tab 1-36 

U 

units tab 1-24 

unknown axis 2-6 

user manuals P-3 

W 

who should use this manual P-1 

X 

Xmodem B-7

Rockwell Automation 

Support 


Rockwell Automation provides technical information on the web to assist you 

in using its products. At http://support.rockwellautomation.com, you can 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 

States 

Please contact your local Rockwell Automation representative for any 

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 

States 

Please contact your local Rockwell Automation representative for 

return procedure. 

Supersedes Publication 2094-IN002D-EN-P — July 2005 Copyright © 2005 Rockwell Automation. All rights reserved. Printed in USA.

2094-IN002A-EN-P Kinetix 6000 Integration Manual - Accu Electric ...

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