Kinetix 6000 Servo Drive Components

Transcription

1 Servo Drive Components servo drive systems consist of these required components: One integrated axis module (IAM or leader IAM) Up to seven axis modules One power rail One to eight rotary motors, linear motors, or linear actuators One to eight motor power and feedback cables Low-profile connector kits (required for flying-lead feedback cables) Two to nine sercos fiber-optic cables systems can also include one or more integrated axis modules used as a follower IAM (and associated axis modules, power rails, motors, cables, and connectors as required for the application). M integrated drive-motor (IDM) systems are an option with servo drives One M IDM power interface module (IPIM) per IDM system As many as 4 IPIM modules on the Bulletin 2094 power rail As many as 16 integrated drive-motor (IDM) units connect to each IPIM module These components are optional: One shunt module, 2094-BSP2 with optional Bulletin 1394 external passive-shunt resistor 2094-PRF, Slot-filler modules Bulletin 2094 Line Interface Module (LIM) Bulletin 2090 Resistive Brake Module (RBM) Bulletin 1336 external active shunt module (dynamic brake) 2090-XXLF AC Line Filters (required for CE) For detailed drive system requirements, refer to the and Kinetix 6200/6500 Drive Systems Design Guide, publication GMC-RM Rockwell Automation Publication KNX-SG001A-EN-P - December 2015

2 Servo Drive Selection Drive Module Integrated axis module (IAM), 200V-class Integrated axis module (IAM), 400V-class Axis module (AM), 200V-class Axis module (AM), 400V-class Drive Cat. No. Converter (A DC ) Continuous Output Ratings Inverter (A, 0-pk) 2094-AC05-MP5-S 3, 10 A 1.2, 5 A 2094-AC05-M01-S 3, 10 A 1.9, 9 A 2094-AC09-M02-S 6, 19 A 3.4, 15 A 2094-AC16-M03-S 11.3, 36 A 5.5, 25 A 2094-AC32-M05-S 22.5, 71 A 11.0, 49 A 2094-BC01-MP5-S 6, 9 A 1.8, 4.0 A 2094-BC01-M01-S 6, 9 A 3.9, 8.6 A 2094-BC02-M02-S 15, 23 A 6.6, 14.6 A 2094-BC04-M03-S 28, 42 A 13.5, 30 A 2094-BC07-M05-S 45, 68 A 22.0, 49 A 2094-AMP5-S 2094-AM05-S 2094-BMP5-S 2094-BM01-S 2094-BM02-S 2094-BM03-S 2094-BM05-S 2094 power rail 2094-PRSx Available for 1, 2, 3, 4, 5, 7, and 8-axis systems N/A N/A 1.2, 5 A 1.9, 9 A 3.4, 15 A 5.5, 25 A 11.0, 49 A 1.8, 4.0 A 3.9, 8.6 A 6.6, 14.6 A 13.5, 30 A 22.0, 49 A 2094 IDM power interface module 2094-SEPM-B24-S 400V-class, 24 A rms, 15, sercos, supports up to 16 integrated drive-motor units 2094 shunt module 2094-BSP2 200/400V-class, 200 W shunt module (mounts on power rail) 2094 slot-filler module 2094-PRF 200/400V-class, covers unused slots on power rail For drive module specifications not included in this publication, refer to the Kinetix Servo Drives Technical Data, publication GMC-TD003. Rockwell Automation Publication KNX-SG001A-EN-P - December

3 Kinetix 6200 Drive Component Compatibility The 2094-BCxx-Mxx-M and 2094-BMxx-M power modules contain the same power structure as the 2094-BCxx-Mxx-S and 2094-BMxx-S drives. Because of this, the 2094-BSP2 shunt module, 2094-PRF slot-filler module, and 2094-PRSx power rails are all supported by both drive families. In addition, 2094-BMxx-M AM power modules with sercos interface are supported on power rails with a 2094-BCxx-Mxx-S IAM module. Conversely, 2094-BMxx-S AM drives are supported on power rails with a 2094-BCxx-Mxx-M IAM power module with sercos interface. IMPORTANT Kinetix 6500 EtherNet/IP control modules (catalog numbers 2094-EN02D-M01-Sx) are not compatible with IAM/AM modules on the same Bulletin 2094 power rail where sercos interface is used. IAM/AM Module Compatibility 2094-BCxx-Mxx-S (series B and C) 2094-BCxx-Mxx-M (IAM power module) Control Module N/A 2094-SE02F-M00-Sx Sercos interface 2094-EN02D-M01-Sx EtherNet/IP network 2094-BMxx-S AM Module 2094-SE02F-M00-Sx Kinetix 6200 Control Module 2094-BMxx-M AM Power Modules Fully compatible Fully compatible Not compatible Not compatible Not compatible Fully compatible 2094-EN02D-M01-Sx Kinetix 6500 Control Module For more information on the Kinetix 6200 modular servo drives, catalog numbers 2094-BCxx-Mxx-M, 2094-BMxx-M, and SE02F-M00-Sx, refer to Kinetix 6200 and Kinetix 6500 Modular Servo Drives on page 99. M Integrated Drive-Motor System Compatibility Bulletin 2094 power rails with (series B) or Kinetix 6200 drives are compatible with M integrated drivemotor (IDM) systems. The integrated drive-motor power interface module (IPIM) mounts to the power rail and connects to as many as 16 IDM units. IMPORTANT Kinetix 6500 EtherNet/IP control modules (catalog numbers 2094-EN02D-M01-Sx) are not compatible with M integrated drive-motor systems. Compatibility 2094-BCxx-Mxx-S (series B and C) 2094-BCxx-Mxx-M (IAM power module) Control Module N/A 2094-SE02F-M00-Sx sercos interface 2094-EN02D-M01-Sx EtherNet/IP network 2094-SEPM-B24-S IDM Power Interface Module (IPIM) Fully compatible Not compatible For more information on the M integrated drive-motor systems, refer to Typical M Integrated Drive- Motor Configuration on page Rockwell Automation Publication KNX-SG001A-EN-P - December 2015

4 Typical M Integrated Drive-Motor Configuration This configuration illustrates the use of servo drives with the M integrated drive-motor (IDM) system. The IDM power interface module (IPIM) is included in the fiber-optic sercos ring configuration along with the axis modules. Refer to Typical Communication Configurations on page 131 for examples. Modular Drive System (with M IDM system) 2094-SEPM-B24-S IPIM Module Three-phase Input Power 2094-BSP2 Shunt Module (optional component) Multi-axis Servo Drive System 2094-PRF Slot Filler Module (required to fill any unused slots) 2094-PRSx Power Rail To Input Sensors and Control String 2090-K6CK-Dxxxx Low Profile Connector Kits for I/O, Motor Feedback, and Aux Feedback Bulletin 2090 Network Cables Bulletin 2090 Hybrid Cables MDF-SBxxxxx-Qx8xB-S Integrated Drive-Motor Unit Compatible Rotary Motors, Linear Motors, and Linear Actuators (MPL-Bxxxx motor shown) Bulletin 2090 Motor Feedback Cables MDF-SBxxxxx-Qx8xB-S Integrated Drive-Motor Unit MDF-SBxxxxx-Qx8xB-S Integrated Drive-Motor Unit MDF-SBxxxxx-Qx8xB-S Integrated Drive-Motor Unit Bulletin 2090 Motor Power Cables Rockwell Automation Publication KNX-SG001A-EN-P - December

5 Multi-axis Servo Drives Typical Hardware Configurations System (with LIM module) 2090-XXLF-xxxx AC Line Filter (required for CE) Multi-axis Servo Drive System Three-Phase Input Power 115/230V Control Power 2094-xCxx-Mxx-S 2094-BSP2 Shunt Module (optional component) 2094-PRF Slot-filler Module (required to fill any unused slots) 2094-PRSx Power Rail 2094-xLxxS Line Interface Module (optional component) I/O Connections 2094-xMxx-S Axis Modules (5) To Input Sensors and Control String Bulletin 2090 Motor Feedback Cables 2090-K6CK-Dxxx Low Profile Connector Kits for I/O, Motor Feedback, and Aux Feedback Bulletin 2090 Motor Power Cables MP-Series and TL-Series Rotary Motors (MPL-Bxxxx motors shown) MP-Series Integrated Linear Stages (MPAS-B9xxx ballscrew shown) RDD-Series Direct Drive Motors (1) (RDB-Bxxxx motor shown) LDC-Series Linear Motors (LDC-Cxxxxxxx linear motor shown) MP-Series Heavy Duty Electric Cylinders (MPAI-Bxxxx electric cylinders shown) MP-Series and TL-Series Electric Cylinders (MPAR-Bxxxx electric cylinder shown) LDL-Series Linear Motors (LDL-xxxxxxxx linear motor shown) (1) Requires 2090-K6CK-KENDAT connector kit for motor feedback connections. LDAT-Series Linear Thrusters (LDAT-Sxxxxxx-xBx linear thrusters only) 128 Rockwell Automation Publication KNX-SG001A-EN-P - December 2015

6 Multi-axis Servo Drives System (without LIM module) Three-phase Input Power Line Disconnect Device Input Fusing Magnetic Contactor 2090-XXLF-xxxx AC Line Filter (required for CE) Single-phase Control Power Multi-axis Servo Drive System 2094-BSP2 Shunt Module (optional component) I/O Connections 2094-xCxx-Mxx-S 2094-PRSx Power Rail 2094-PRF Slot-filler Module (required to fill any unused slots) To Input Sensors and Control String Bulletin 2090 Motor Feedback Cables 2090-K6CK-Dxxx Low Profile Connector Kits for I/O, Motor Feedback, and Aux Feedback 2094-xMxx-S Axis Modules (5) Bulletin 2090 Motor Power Cables MP-Series and TL-Series Rotary Motors (MPL-xxxx motors shown) MP-Series Integrated Linear Stages (MPAS-B9xxx ballscrew shown) RDD-Series Direct Drive Motors (1) (RDB-Bxxxx motor shown) LDC-Series Linear Motors (LDC-Cxxxxxxx linear motor shown) MP-Series Heavy Duty Electric Cylinders (MPAI-Bxxxx electric cylinders shown) LDL-Series Linear Motors (LDL-xxxxxxxx linear motor shown) (1) Requires 2090-K6CK-KENDAT connector kit for motor feedback connections. MP-Series and TL-Series Electric Cylinders (MPAR-Bxxxx electric cylinder shown) LDAT-Series Linear Thrusters (LDAT-Sxxxxxx-xBx linear thrusters only) Rockwell Automation Publication KNX-SG001A-EN-P - December

7 In this system configuration, the leader IAM module is connected to the follower IAM module via the DC common bus. When planning your panel layout, you must calculate the total bus capacitance of your DC common bus system to make sure that the leader IAM module is sized sufficiently to pre-charge the entire system. Refer to the Servo Drive User Manual, publication 2094-UM001, when making this calculation. IMPORTANT If total bus capacitance of your system exceeds the leader IAM module pre-charge rating, the IAM module seven-segment status displays error code E90 (pre-charge timeout fault) if input power is applied. To correct this condition, you must replace the leader IAM module with a larger module or decrease the total bus capacitance by removing axis modules. System (DC common bus) Three-phase Input Power 2090-XXLF-xxxx AC Line Filter (required for CE) 115/230V Control Power 2094-xCxx-Mxx-S Common Bus Leader Multi-axis Servo Drive System 2094-BSP2 Shunt Module (optional component) 2094-PRF Slot-filler Module (required to fill any unused slots) 2094-xLxxS Line Interface Module (optional component) DC Common Bus 2094-PRSx Power Rail 2094-xMxx-S Axis Modules (5) 2094-SEPM-B24-S IPIM Module 2094-xCxx-Mxx-S Common Bus Follower 2094-PRF Slot-filler Module (required to fill any unused slots) 2094-PRSx Power Rail 2094-xMxx-S Axis Modules (5) Motors and other details common to both three-phase AC and DC common-bus configurations are removed. 130 Rockwell Automation Publication KNX-SG001A-EN-P - December 2015

8 Multi-axis Servo Drives Typical Communication Configurations In this example, drive-to-drive sercos cable lengths and catalog numbers are shown for the drives and when and Kinetix 6200 drive modules exist on the same power rail. Drive Communication (sercos) Logix5000 Controller Programming Network Logix5000 Sercos interface Module Logix5000 Controller (ControlLogix is shown) 2090-SCxxx-x Sercos Fiber-optic Cable 0.1 m (5.1 in.) Drive-to-Drive Sercos Cables RSLogix 5000 Software or the Logix Designer Application 2094-xCxx-Mxx-S 2094-PRSx Power Rail and M (top view) Sercos Connectors RX TX TX RX Kinetix 6200 (top view) Sercos Connectors 2094-xMxx-S Axis Modules (5) 0.1 m (5.1 in.) 0.2 m (7.1 in.) 0.1 m (5.1 in.) 0.2 m (7.1 in.) 0.1 m (5.1 in.) Single-wide 2094-BCxx-Mxx-S Double-wide 2094-BCxx-Mxx-S 2094-SEPM-B24-S IPIM Module 2094-BMxx-M Single-wide AM Power Modules with 2094-SE02F-M00-Sx Control Modules 2094-BMxx-S Single-wide AM Module 2094-BMxx-S Double-wide AM Module 2094-BMxx-S Single-wide AM Module Rockwell Automation Publication KNX-SG001A-EN-P - December

9 Rotary Motion Performance Specifications These rotary motor families are compatible with servo drives. Rotary Motor Family Page MP-Series (Bulletin MPL) low-inertia motors 132 MP-Series (Bulletin MPM) medium-inertia motors 136 MP-Series (Bulletin MPF) food-grade motors 139 M (Bulletin MDF) integrated drive-motor (food-grade) motors 140 MP-Series (Bulletin MPS) stainless-steel motors 140 MP-Series (Bulletin RDB) direct-drive motors 141 TL-Series (Bulletin TLY) low-inertia motors 142 For drive system combinations that include cable catalog number selection and torque/speed curves, refer to the and Kinetix 6200/6500 Drive Systems Design Guide, publication GMC-RM003. IMPORTANT These system combinations do not include all possible motor/drive combinations. Refer to Motion Analyzer software to verify compatibility. To access Motion Analyzer software, go to: Bulletin MPL Motor Performance Specifications with Drives Performance Specifications with (200V-class) Drives Motor Cat. No. 200V-class Drives MPL-A1510V (2.3) (6.8) AMP5-S MPL-A1520U (4.3) (13.9) AMP5-S MPL-A1530U (8.0) (24.9) AMP5-S MPL-A210V (4.8) (13.4) AMP5-S MPL-A220T (14.2) MPL-A230P (18.6) (30.0) 2094-AMP5-S (41.9) (70.8) (73.0) MPL-A310F (14.0) (31.9) AMP5-S MPL-A310P (14.0) MPL-A320H (27.0) MPL-A320P 5000 MPL-A330P (37.0) MPL-A420P (42.3) (25.6) 2094-AMP5-S (31.9) (63.0) (70.0) (25.5) (44.8) (27.0) (70.0) (80.5) (98.2) (85.5) (119) 132 Rockwell Automation Publication KNX-SG001A-EN-P - December 2015

10 Performance Specifications with (200V-class) Drives (continued) Motor Cat. No. MPL-A430H (55.0) MPL-A430P (47.3) (88.3) (52.9) MPL-A4530F (74.0) MPL-A4530K (71.9) MPL-A4540C 1500 MPL-A4540F (90.1) MPL-A4560F (125) MPL-A520K (95.2) 200V-class Drives (123) (175) (136) (175) 2094-AM05-S (139) (179) (150) (179) 2094-AM05-S (80.9) (150) (91.1) (239) (208) (239) 2094-AM05-S (239) (305) 2094-AM05-S (171) (214) 2094-AM05-S MPL-A540K (171) (277) AM05-S MPL-A560F (242) (350) AM05-S Performance specification data and curves reflect nominal system performance of a typical system with motor at 40 C (104 F) and drive at 50 C (122 F) ambient and rated line voltage. For additional information on ambient and line conditions, refer to Motion Analyzer software. Rockwell Automation Publication KNX-SG001A-EN-P - December

11 Bulletin MPM Motor Performance Specifications with Drives Performance Specifications with (200V-class) Drives Motor Cat. No. Speed, base Speed, max MPM-A1151M (20.3) MPM-A1152F (41.6) MPM-A1153F MPM-A1302F (58.4) MPM-A1304F MPM-A1651F MPM-A1652F MPM-A1653F Motor Rated Output 200V-class Drives (57.5) (58.4) (87.6) (119) 6.0 (53.1) (94.7) (57.5) (142) (117) (119) 2094-AM05-S 7.6 (67.2) (117) (81.4) (171) 9.3 (82.3) (134) (94.7) (179) 2094-AM05-S 11.0 (97.3) (174) (119) (245) 2094-AM05-S 11.7 (103) (187) (165) (262) 2094-AM05-S Performance specification data and curves reflect nominal system performance of a typical system with motor at 40 C (104 F) and drive at 50 C (122 F) ambient and rated line voltage. For additional information on ambient and line conditions, refer to Motion Analyzer software. 136 Rockwell Automation Publication KNX-SG001A-EN-P - December 2015

12 Bulletin MPF Motor Performance Specifications with Drives Performance Specifications with (200V-class) Drives Motor Cat. No. MPF-A310P (14.0) MPF-A320H (27.0) MPF-A320P 5000 MPF-A330P (34.0) MPF-A430H (55.0) MPF-A430P (52.5) MPF-A4530K (71.4) MPF-A4540F (89.7) MPF-A540K 4000 Performance Specifications with (400V-class) Drives Motor Cat. No. 200V-class Drives (25.7) 2094-AMP5-S (31.9) (61.6) (70.0) (25.5) (44.8) (27.0) (70.0) (74.9) (91.2) (117) (175) (136) (175) 2094-AM05-S (150) (179) 2094-AM05-S (208) (239) 2094-AM05-S (100) (192) (171) (279) 2094-AM05-S MPF-B310P (14) MPF-B320P (26) (34) (27) MPF-B330P (37) MPF-B430P (58) MPF-B4530K (73) MPF-B4540F (90) MPF-B540K (171) 400V-class Drives (28) 150% (32) 250% 150% (66) % (69) 250% (72) 150% (98) 250% (125) 150% (175) 250% (136) 150% (179) 250% (189) 150% (240) 2094-BM02-S@ 250% (335) 150% (430) 250% Performance specification data and curves reflect nominal system performance of a typical system with motor at 40 C (104 F) and drive at 50 C (122 F) ambient and rated line voltage. For additional information on ambient and line conditions, refer to Motion Analyzer software. Rockwell Automation Publication KNX-SG001A-EN-P - December

13 Bulletin MDF Integrated Drive-Motor Performance Specifications Performance Specifications with M (non-brake) Motors IDM Drive-Motor Cat. No. MDF-SB1003P-xxx2x-S (26.5) (92.9) 1.10 MDF-SB1153H-xxx2x-S (42.5) (164) 1.15 MDF-SB1304F-xxx2x-S (64.2) (192) 1.39 M IPIM Module 2094-SEPM-B24-S Performance Specifications with M (brake) Motors IDM Drive-Motor Cat. No. MDF-SB1003P-xxx4x-S (26.5) (92.9) 1.02 MDF-SB1153H-xxx4x-S (42.5) (164) 1.00 MDF-SB1304F-xxx4x-S (64.2) (192) 1.24 M IPIM Module 2094-SEPM-B24-S Performance specification data and curves reflect nominal system performance of a typical system at 40 C (104 F) ambient and rated line voltage. For additional information on ambient and line conditions, refer to Motion Analyzer software. Bulletin MPS Motor Performance Specifications with Drives Performance Specifications with (200V-class) Drives Motor Cat. No. MPS-A330P 5000 Performance Specifications with (400V-class) Drives (27) (51) (32.0) MPS-A4540F (72) 200V-class Drives (82) (98) (140) (214) (240) 2094-AM05-S Motor Cat. No. MPS-B330P (32) MPS-B4540F (72) MPS-B560F (190) 400V-class Drives (72.5) 150% (97.2) 250% (202) 250% (205) % (240) 250% (435) 150% (600) 250% Performance specification data and curves reflect nominal system performance of a typical system with motor at 40 C (104 F) and drive at 50 C (122 F) ambient and rated line voltage. For additional information on ambient and line conditions, refer to Motion Analyzer software. 140 Rockwell Automation Publication KNX-SG001A-EN-P - December 2015

14 LDC-Series Performance Specifications with Drives Performance Specifications with (200V-class) Drives Linear Motor Cat. No. LDC-C DHT m/s (ft/s) (1) Amps 0-pk (1) Values represent the range between no cooling (low value) and water cooling (high value). Stall Force (1) N (lb) Amps 0-pk Stall Force N (lb) Linear Motor Rated Output 200V-class Drives (17 25) (42) LDC-C DHT 10.0 (32.8) (33 50) 375 (84) LDC-C EHT LDC-C DHT (27 40) (68) LDC-C DHT (54 81) 600 (135) LDC-C EHT 10.0 (32.8) AMP5-S LDC-C DHT (82 122) 941 (212) LDC-C EHT AMP5-S LDC-C DHT (78 117) 882 (198) LDC-C EHT AMP5-S LDC-C DHT (32.8) ( ) 1368 (308) LDC-C EHT LDC-C DHT ( ) 1824 (410) LDC-C EHT LDC-C DHT ( ) 1767 (397) LDC-C EHT LDC-C DHT (32.8) ( ) 2356 (530) LDC-C EHT LDC-C DHT LDC-C DHT LDC-C DHT 10.0 (32.8) ( ) ( ) ( ) (794) AM05-S (786) (1179) AM05-S Performance specification data and curves reflect nominal system performance of a typical system with motor at 40 C (104 F) and drive at 50 C (122 F) ambient and rated line voltage. For additional information on ambient and line conditions, refer to Motion Analyzer software. Rockwell Automation Publication KNX-SG001A-EN-P - December