Kinetix 6200 and Kinetix 6500 Servo Drive Selection

Transcription

1 Kinetix and Kinetix 65 Modular Servo Drives Kinetix and Kinetix 65 Servo Drive Selection Drive Module Integrated Axis Module (IAM) power module, 4V-class Axis Module (AM) power module, 4V-class Kinetix control module (sercos) Drive Cat. No. Converter (A DC ) Continuous Output Ratings Inverter (A, -pk) 294-BC1-MP5-M 6, 9 A 1.8, 4. A 294-BC1-M1-M 6, 9 A 3.9, 8.6 A 294-BC2-M2-M 15, 23 A 6.6, 14.6 A 294-BC4-M3-M 28, 42 A 13.5, 3 A 294-BC7-M5-M 45, 68 A 22., 49 A 294-BMP5-M 294-BM1-M 294-BM2-M 294-BM3-M 294-BM5-M 294-SE2F-M-S, Safe torque-off 294-SE2F-M-S1, Safe speed monitoring 1.8, 4. A 3.9, 8.6 A 6.6, 14.6 A 13.5, 3 A 22., 49 A Kinetix 65 control module (EtherNet/IP) 294-EN2D-M1-S, Safe Torque-off 294-EN2D-M1-S1, Safe speed monitoring 294 power rail 294-PRSx Available for 1, 2, 3, 4, 5, 7, and 8-axis systems 294 IDM power interface module 294-SEPM-B24-S 4V-class, 24 A rms, 15, sercos, supports up to 16 integrated drive-motor units 294 shunt module 294-BSP2 2/4V-class, 2 W shunt module (mounts on power rail) 294 slot-filler module 294-PRF 2/4V-class, covers unused slots on power rail For Kinetix and Kinetix 65 drive module specifications not included in this publication, refer to the Kinetix Servo Drives Specifications Technical Data, publication GMC-TD3. Rockwell Automation Publication GMC-SG1X-EN-P - June

2 Kinetix and Kinetix 65 Modular Servo Drives Kinetix 6 Drive Component Compatibility The 294-BCxx-Mxx-M and 294-BMxx-M power modules contain the same power structure as the 294-BCxx-Mxx-S and 294-BMxx-S drives. Because of this, the 294-BSP2 shunt module, 294-PRF slot-filler module, and 294-PRSx power rails are all supported by both drive families. In addition, 294-BMxx-M AM power modules with sercos interface are supported on power rails with a 294-BCxx-Mxx-S IAM module. Conversely, 294-BMxx-S AM drives are supported on power rails with a 294-BCxx-Mxx-M IAM power module with sercos interface. IMPORTANT Kinetix 65 EtherNet/IP control modules (catalog numbers 294-EN2D-M1-Sx) are not compatible with IAM/AM modules on the same Bulletin 294 power rail where sercos interface is used. IAM/AM Module Compatibility 294-BCxx-Mxx-S (series B and C) 294-BCxx-Mxx-M (IAM power module) 294-SE2F-M-Sx sercos interface 294-EN2D-M1-Sx EtherNet/IP network 294-BMxx-S Kinetix 6 AM Module 294-SE2F-M-Sx Kinetix 294-BMxx-M AM Power Modules Fully compatible Fully compatible Not compatible Not compatible Not compatible Fully compatible 294-EN2D-M1-Sx Kinetix 65 For more information on the Kinetix 6 IAM and AM modules, catalog numbers 294-xCxx-Mxx-S and 294-xMxx-S, refer to Kinetix 6 Multi-axis Servo Drives on page 91. Kinetix 6M Integrated Drive-Motor System Compatibility Bulletin 294 power rails with Kinetix 6 (series B) or Kinetix drives are compatible with Kinetix 6M 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 65 EtherNet/IP control modules (catalog numbers 294-EN2D-M1-Sx) are not compatible with Kinetix 6M integrated drive-motor systems. Compatibility 294-BCxx-Mxx-S (series B and C) 294-BCxx-Mxx-M (IAM power module) 294-SE2F-M-Sx sercos interface 294-EN2D-M1-Sx EtherNet/IP network 294-SEPM-B24-S IDM Power Interface Module (IPIM) Fully compatible Not compatible For more information on the Kinetix 6M integrated drive-motor systems, refer to Typical Kinetix 6M Integrated Drive- Motor Configuration on page Rockwell Automation Publication GMC-SG1X-EN-P - June 214

3 Kinetix and Kinetix 65 Modular Servo Drives Typical Kinetix 6M Integrated Drive-Motor Configuration This configuration illustrates the use of Kinetix servo drives with the Kinetix 6M 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 75 for examples. Modular Drive System (with Kinetix 6M IDM system) 294-SEPM-B24-S IPIM Module Three-phase Input Power 294-BSP2 Shunt Module (optional component) Kinetix Modular Servo Drive System 294-PRF Slot Filler Module (required to fill any unused slots) 294-PRSx 29-K6CK-Dxxxx Low Profile Connector Kits for I/O, Safety, Motor Feedback, and Aux Feedback To Input Sensors and Control String Bulletin 29 Network Cables Bulletin 29 Hybrid Cables Compatible Rotary Motors, Linear Motors, and Linear Actuators (MPL-Bxxxx motor shown) Bulletin 29 Motor Feedback Cables Bulletin 29 Motor Power Cables Rockwell Automation Publication GMC-SG1X-EN-P - June

4 Kinetix and Kinetix 65 Modular Servo Drives In this system configuration, the leader IAM power 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 power module is sized sufficiently to pre-charge the entire system. Refer to the Kinetix and Kinetix 65 Modular Servo Drive User Manual, publication 294-UM2, when making this calculation. IMPORTANT If total bus capacitance of your system exceeds the leader IAM power module pre-charge rating, the IAM module four-character display scrolls a power cycle user limit condition. If input power is applied, the display scrolls a power cycle fault limit condition. To correct this condition, you must replace the leader IAM power module with a larger module or decrease the total bus capacitance by removing AM power modules. Modular Drive System (DC Common Bus) Three-phase Input Power 29-XXLF-xxxx AC Line Filter (required for CE) Kinetix or Kinetix 65 Multi-axis Servo Drive System 115/23V Control Power 294-BSP2 Shunt Module (optional component) 294-BCxx-Mxx-M IAM Power Module with Bulletin PRF Slot Filler Module (required to fill any unused slots) 294-xLxxS Line Interface Module (optional component) DC Common Bus 294-PRSx 294-SEPM-B24-S IPIM Module 294-BMxx-M AM Power Modules (5) with Bulletin 294 s (5) 294-BCxx-Mxx-M IAM Power Module with Bulletin PRF Slot Filler Module (required to fill any unused slots) 294-PRSx 294-BMxx-M AM Power Modules (5) with Bulletin 294 s (5) Motors and other details common to both three-phase AC and DC common-bus configurations are removed. 74 Rockwell Automation Publication GMC-SG1X-EN-P - June 214

5 SERCOS interface CP OK Tx (rear) Rx (front) Kinetix and Kinetix 65 Modular Servo Drives Typical Communication Configurations The Kinetix control modules use sercos interface for configuring the Logix5 module and EtherNet/IP network for access to the safety configuration tool. In this example, an ethernet cable is connected to each control module when programming the safety configuration. EtherNet/IP network connectivity is not required during runtime. Also shown are drive-to-drive sercos cable lengths and catalog numbers when Kinetix 6 and Kinetix drive modules exist on the same power rail. Kinetix Drive Communication (sercos) Logix5 Controller Programming Network Logix5 sercos interface Module Logix5 Controller (ControlLogix is shown) 29-SCxxx-x Sercos Fiber-optic Cable.2 m (7.1 in.) Kinetix Drive-to-Drive Sercos Cables RSLogix 5 Software or the Logix Designer Application Ethernet (RJ45) connections are required only for programming the 294-SE2F-M-S1 safety configuration. 294-BCxx-Mxx-M IAM Power Module with 294-SE2F-M-Sx 294-PRSx 1585J-M8TBJM-x Ethernet Cable Kinetix (top view) Sercos Connectors.1 m (5.1 in.) TX RX RX TX.1 m (5.1 in.) Kinetix 6 and Kinetix 6M (top view) Sercos Connectors.2 m (7.1 in.) 294-BMxx-M AM Power Modules (5) with 294-SE2F-M-Sx s (5).3 m (12. in.).2 m (7.1 in.) Kinetix Single-wide 294-BCxx-Mxx-M IAM Power Module with 294-SE2F-M-Sx Kinetix Double-wide 294-BCxx-Mxx-M IAM Power Module 294-SE2F-M-Sx 294-SEPM-B24-S IPIM Module 294-BMxx-M AM Power Modules with 294-SE2F-M-Sx s 294-BMxx-S AM Modules 294-BMxx-M Double-wide AM Power Module with 294-SE2F-M-Sx 294-BMxx-M Single-wide AM Power Module with 294-SE2F-M-Sx Rockwell Automation Publication GMC-SG1X-EN-P - June

6 Kinetix and Kinetix 65 Modular Servo Drives Bulletin MPF Motor Performance Specifications with Kinetix /65 Drives Motor Cat. No. Stall Current Kinetix / Kinetix 65 4V-class Drives MPF-B31P (14) (32) BMP5-M MPF-B32P (25.6) (53.1) 294-BMP5-M (27) (69) 294-BM1-M MPF-B33P (25.6) (57.5) 294-BMP5-M (37) (98) 294-BM1-M MPF-B43P (54.9) (123) 294-BM1-M (58) (175) 294-BM2-M MPF-B453K (62.8) (133) 294-BM1-M (73) (179) 294-BM2-M MPF-B454F (84.1) (185) 294-BM1-M (9) (24) 294-BM2-M MPF-B54K (171) (43) BM3-M Performance specification data and curves reflect nominal system performance of a typical system with motor at 4 C (14 F) and drive at 5 C (122 F) ambient and rated line voltage. For additional information on ambient and line conditions, refer to Motion Analyzer software. Bulletin MDF Integrated Drive-Motor Performance Specifications Performance Specifications with Kinetix 6M (non-brake) Motors IDM Drive-Motor Cat. No. MDF-SB13P-xxx2x-S (26.5) (92.9) 1.1 MDF-SB1153H-xxx2x-S (42.5) (164) 1.15 MDF-SB134F-xxx2x-S (64.2) (192) 1.39 Kinetix 6M IPIM Module 294-SEPM-B24-S Performance Specifications with Kinetix 6M (brake) Motors IDM Drive-Motor Cat. No. MDF-SB13P-xxx4x-S (26.5) (92.9) 1.2 MDF-SB1153H-xxx4x-S (42.5) (164) 1. MDF-SB134F-xxx4x-S (64.2) (192) 1.24 Kinetix 6M IPIM Module 294-SEPM-B24-S Performance specification data and curves reflect nominal system performance of a typical system at 4 C (14 F) ambient and rated line voltage. For additional information on ambient and line conditions, refer to Motion Analyzer software. 82 Rockwell Automation Publication GMC-SG1X-EN-P - June 214

7 Kinetix 6 Multi-axis Servo Drives Kinetix 6 Servo Drive Selection Drive Module Integrated axis module (IAM), 2V-class Integrated axis module (IAM), 4V-class Axis module (AM), 2V-class Axis module (AM), 4V-class Drive Cat. No. Converter (A DC ) Continuous Output Ratings Inverter (A, -pk) 294-AC5-MP5-S 3, 1 A 1.2, 5 A 294-AC5-M1-S 3, 1 A 1.9, 9 A 294-AC9-M2-S 6, 19 A 3.4, 15 A 294-AC16-M3-S 11.3, 36 A 5.5, 25 A 294-AC32-M5-S 22.5, 71 A 11., 49 A 294-BC1-MP5-S 6, 9 A 1.8, 4. A 294-BC1-M1-S 6, 9 A 3.9, 8.6 A 294-BC2-M2-S 15, 23 A 6.6, 14.6 A 294-BC4-M3-S 28, 42 A 13.5, 3 A 294-BC7-M5-S 45, 68 A 22., 49 A 294-AMP5-S 294-AM1-S 294-AM2-S 294-AM3-S 294-AM5-S 294-BMP5-S 294-BM1-S 294-BM2-S 294-BM3-S 294-BM5-S 294 power rail 294-PRSx Available for 1, 2, 3, 4, 5, 7, and 8-axis systems 1.2, 5 A 1.9, 9 A 3.4, 15 A 5.5, 25 A 11., 49 A 1.8, 4. A 3.9, 8.6 A 6.6, 14.6 A 13.5, 3 A 22., 49 A 294 IDM power interface module 294-SEPM-B24-S 4V-class, 24 A rms, 15, sercos, supports up to 16 integrated drive-motor units 294 shunt module 294-BSP2 2/4V-class, 2 W shunt module (mounts on power rail) 294 slot-filler module 294-PRF 2/4V-class, covers unused slots on power rail For Kinetix 6 drive module specifications not included in this publication, refer to the Kinetix Servo Drives Technical Data, publication GMC-TD3. Rockwell Automation Publication GMC-SG1X-EN-P - June

8 Kinetix 6 Multi-axis Servo Drives Kinetix Drive Component Compatibility The 294-BCxx-Mxx-M and 294-BMxx-M power modules contain the same power structure as the 294-BCxx-Mxx-S and 294-BMxx-S drives. Because of this, the 294-BSP2 shunt module, 294-PRF slot-filler module, and 294-PRSx power rails are all supported by both drive families. In addition, 294-BMxx-M AM power modules with sercos interface are supported on power rails with a 294-BCxx-Mxx-S IAM module. Conversely, 294-BMxx-S AM drives are supported on power rails with a 294-BCxx-Mxx-M IAM power module with sercos interface. IMPORTANT Kinetix 65 EtherNet/IP control modules (catalog numbers 294-EN2D-M1-Sx) are not compatible with IAM/AM modules on the same Bulletin 294 power rail where sercos interface is used. IAM/AM Module Compatibility 294-BCxx-Mxx-S (series B and C) 294-BCxx-Mxx-M (IAM power module) 294-SE2F-M-Sx Sercos interface 294-EN2D-M1-Sx EtherNet/IP network 294-BMxx-S Kinetix 6 AM Module 294-SE2F-M-Sx Kinetix 294-BMxx-M AM Power Modules Fully compatible Fully compatible Not compatible Not compatible Not compatible Fully compatible 294-EN2D-M1-Sx Kinetix 65 For more information on the Kinetix modular servo drives, catalog numbers 294-BCxx-Mxx-M, 294-BMxx-M, and 294- SE2F-M-Sx, refer to Kinetix and Kinetix 65 Modular Servo Drives on page 67. Kinetix 6M Integrated Drive-Motor System Compatibility Bulletin 294 power rails with Kinetix 6 (series B) or Kinetix drives are compatible with Kinetix 6M 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 65 EtherNet/IP control modules (catalog numbers 294-EN2D-M1-Sx) are not compatible with Kinetix 6M integrated drive-motor systems. Compatibility 294-BCxx-Mxx-S (series B and C) 294-BCxx-Mxx-M (IAM power module) 294-SE2F-M-Sx sercos interface 294-EN2D-M1-Sx EtherNet/IP network 294-SEPM-B24-S IDM Power Interface Module (IPIM) Fully compatible Not compatible For more information on the Kinetix 6M integrated drive-motor systems, refer to Typical Kinetix 6M Integrated Drive- Motor Configuration on page Rockwell Automation Publication GMC-SG1X-EN-P - June 214

9 Kinetix 6 Multi-axis Servo Drives Typical Kinetix 6M Integrated Drive-Motor Configuration This configuration illustrates the use of Kinetix 6 servo drives with the Kinetix 6M 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 99 for examples. Modular Drive System (with Kinetix 6M IDM system) 294-SEPM-B24-S IPIM Module Three-phase Input Power 294-BSP2 Shunt Module (optional component) Kinetix 6 Multi-axis Servo Drive System 294-PRF Slot Filler Module (required to fill any unused slots) 294-PRSx To Input Sensors and Control String 29-K6CK-Dxxxx Low Profile Connector Kits for I/O, Motor Feedback, and Aux Feedback Bulletin 29 Network Cables Bulletin 29 Hybrid Cables Compatible Rotary Motors, Linear Motors, and Linear Actuators (MPL-Bxxxx motor shown) Bulletin 29 Motor Feedback Cables Bulletin 29 Motor Power Cables Rockwell Automation Publication GMC-SG1X-EN-P - June

10 Kinetix 6 Multi-axis Servo Drives 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 Kinetix 6 Servo Drive User Manual, publication 294-UM1, 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 E9 (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. Kinetix 6 System (DC common bus) Three-phase Input Power 29-XXLF-xxxx AC Line Filter (required for CE) 115/23V Control Power 294-xCxx-Mxx-S Common Bus Leader Kinetix 6 Multi-axis Servo Drive System 294-BSP2 Shunt Module (optional component) 294-PRF Slot-filler Module (required to fill any unused slots) 294-xLxxS Line Interface Module (optional component) DC Common Bus 294-PRSx 294-xMxx-S Axis Modules (5) 294-SEPM-B24-S IPIM Module 294-xCxx-Mxx-S Common Bus Follower 294-PRF Slot-filler Module (required to fill any unused slots) 294-PRSx 294-xMxx-S Axis Modules (5) Motors and other details common to both three-phase AC and DC common-bus configurations are removed. 98 Rockwell Automation Publication GMC-SG1X-EN-P - June 214

11 SERCOS interface CP OK Tx (rear) Rx (front) Kinetix 6 Multi-axis Servo Drives Typical Communication Configurations In this example, drive-to-drive sercos cable lengths and catalog numbers are shown for the Kinetix 6 drives and when Kinetix 6 and Kinetix drive modules exist on the same power rail. Kinetix 6 Drive Communication (sercos) Logix5 Controller Programming Network Logix5 Sercos interface Module Logix5 Controller (ControlLogix is shown) 29-SCxxx-x Sercos Fiber-optic Cable.1 m (5.1 in.) Kinetix 6 Drive-to-Drive Sercos Cables RSLogix 5 Software or the Logix Designer Application 294-xCxx-Mxx-S 294-PRSx Kinetix 6 and Kinetix 6M (top view) Sercos Connectors RX TX TX RX Kinetix (top view) Sercos Connectors 294-xMxx-S Axis Modules (5).1 m (5.1 in.).2 m (7.1 in.).1 m (5.1 in.).2 m (7.1 in.).1 m (5.1 in.) Kinetix 6 Single-wide 294-BCxx-Mxx-S Kinetix 6 Double-wide 294-BCxx-Mxx-S 294-SEPM-B24-S IPIM Module 294-BMxx-M Single-wide AM Power Modules with 294-SE2F-M-Sx s 294-BMxx-S Single-wide AM Module 294-BMxx-S Double-wide AM Module 294-BMxx-S Single-wide AM Module Rockwell Automation Publication GMC-SG1X-EN-P - June

12 Kinetix 6 Multi-axis Servo Drives Bulletin MDF Integrated Drive-Motor Performance Specifications Performance Specifications with Kinetix 6M (non-brake) Motors IDM Drive-Motor Cat. No. MDF-SB13P-xxx2x-S (26.5) (92.9) 1.1 MDF-SB1153H-xxx2x-S (42.5) (164) 1.15 MDF-SB134F-xxx2x-S (64.2) (192) 1.39 Kinetix 6M IPIM Module 294-SEPM-B24-S Performance Specifications with Kinetix 6M (brake) Motors IDM Drive-Motor Cat. No. MDF-SB13P-xxx4x-S (26.5) (92.9) 1.2 MDF-SB1153H-xxx4x-S (42.5) (164) 1. MDF-SB134F-xxx4x-S (64.2) (192) 1.24 Kinetix 6M IPIM Module 294-SEPM-B24-S Performance specification data and curves reflect nominal system performance of a typical system at 4 C (14 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 Kinetix 6 Drives Performance Specifications with Kinetix 6 (2V-class) Drives Motor Cat. No. MPS-A33P 5 Performance Specifications with Kinetix 6 (4V-class) Drives (27) (51) (32.) MPS-A454F (72) Kinetix 6 2V-class Drives 294-AM1-S (82) AM2-S (98) 294-AM3-S (14) 294-AM2-S (214) AM3-S (24) 294-AM5-S Motor Cat. No. MPS-B33P (32) MPS-B454F (72) MPS-B56F (19) Kinetix 6 4V-class Drives (72.5) 15% (97.2) 25% (22) 25% (25) % (24) 25% (435) 15% (6) 25% Performance specification data and curves reflect nominal system performance of a typical system with motor at 4 C (14 F) and drive at 5 C (122 F) ambient and rated line voltage. For additional information on ambient and line conditions, refer to Motion Analyzer software. 18 Rockwell Automation Publication GMC-SG1X-EN-P - June 214