2094 In002 - en P PDF

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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.
Identifies information that is critical for successful

IMPORTANT
application and understanding of the product.
Identifies information about practices or circumstances

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

drive or motor) to alert people that dangerous voltage may
be present.
BURN HAZARD 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
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
Publication 2094-IN002E-EN-P — September 2005

Table of Contents iii
Appendix B
Upgrade Your Kinetix 6000 Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
Firmware 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
Integrate Resistive Brake Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1
Modules Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1
with Kinetix 6000 Drives 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

iv Table of Contents

Preface
Introduction 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
Who Should Use this This manual is intended for engineers or programmers directly
involved in the operation, field maintenance, and integration of the
Manual 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.
Purpose of this Manual 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 Refer to the following listing for the descriptive contents of this
installation manual.
Chapter Title Contents

Describes the purpose, background, and scope of
Preface 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
Chapter 1 Commission Your Kinetix 6000 module, and when applying power to the Kinetix
6000 for the first time.
Provides diagnostic aids that help isolate
Chapter 2 Troubleshoot Your Kinetix 6000 problems with your drive and Kinetix 6000
removal/replacement procedures.
Provides interconnect diagrams between the
Appendix A Interconnect Diagrams Kinetix 6000 and the Line Interface Module,
Shunt Module, Resistive Brake Module and
servo motors.
Upgrade Your Kinetix 6000 Provides steps to follow when you need to
Appendix B Firmware upgrade (flash) your IAM and AM firmware.
Integrate Resistive Brake Provides safety precautions, interconnect
Appendix C Modules with Kinetix 6000 diagrams, and procedures specific to configuring
Drives the RBM with the Kinetix 6000.
Explains how to calculate capacitance values
Appendix D DC Common Bus Applications and set the Add Bus Cap parameter for DC
common bus applications.
Product Receiving and You, the customer, are responsible for thoroughly inspecting the
equipment before accepting the shipment from the freight company.
Storage Responsibility 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

P-3
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 Kinetix 6000 Line Interface Module Installation 2094-IN005
procedures for selected internal LIM components Instructions
Information on wiring and troubleshooting your Kinetix 6000 safety Kinetix Safe-Off Feature Safety Reference Manual GMC-RM002
drive
A description and specifications for the 2094 family including motors
and motor accessories Kinetix Motion Control Selection Guide GMC-SG001
Drive and motor sizing with application analysis software Motion Analyzer CD PST-SG003
(v4.1 or above)
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 16 Axis PCI SERCOS interface Card Installation 1784-IN041
Instructions
Logix5000 Controllers Motion Instructions
The instructions needed to program a motion application Reference Manual 1756-RM007
Information on configuring and troubleshooting your ControlLogix Logix5000 Motion Modules User Manual 1756-UM006
SERCOS and analog motion modules
Information on configuring and troubleshooting your SoftLogix PCI SoftLogix Motion Card Setup and Configuration
card Manual 1784-UM003
Information on the installation and wiring of Bulletin 2090 Resistive

Brake Modules Resistive Brake Module Installation Instructions 2090-IN009
Information on proper handling, installing, testing, and Fiber-Optic Cable Installation and Handling 2090-IN010
troubleshooting fiber-optic cables Instructions
Information, examples, and techniques designed to minimize system
failures caused by electrical noise System Design for Control of Electrical Noise GMC-RM001
For declarations of conformity (DoC) currently available from Rockwell www.ab.com/

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

P-4
Conventions Used in this The following conventions are used throughout this manual.
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 1
Commission Your Kinetix 6000
Chapter Objectives 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.
General Startup The following precautions pertain to all of the procedures in this
chapter. Be sure to read and thoroughly understand them before
Precautions proceeding.
ATTENTION
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.
ATTENTION 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 The following table provides a brief description of the Kinetix 6000
IAM/AM connectors.
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
DC Bus and VAC Input Power (drive)
230V 6-position connector housing IAM
IPD
DC Bus and VAC Input Power (drive) 6-position connector housing IAM
460V
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

Commission Your Kinetix 6000 1-3
Locate IAM Connectors and Use the figure below to locate the Integrated Axis Module connectors
and indicators. Although the physical size of the 2094-BCxx-Mxx
Indicators (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)
Integrated Axis Module, top view

(2094-BM01-MP5-S is shown)
Motor Cable
Shield Clamp
Control Power CTRL 2
1 2
(CPD) Connector CTRL 1
1 2 3 4
DC- Motor Power
1 2 3 4 5 6
W
DC+ (MP) Connector
V
DC Bus / AC Input Power
U
(IPD) Connector L3
1 2 3 4 5 6 7 8 9
MBRK -
L2
1 2 3 4 5 6
MBRK +
L1 COM
Motor/Resistive Brake
PWR (BC) Connector
Contactor Enable CONT EN- DBRK -
1 2
(CED) Connector CONT EN+ DBRK +
Safe-Off RX TX BAUD
(SO) Connector DPI RATE
(present only on the 2094-BCxx-Mxx-S) SERCOS Baud Rate

and Optical Power Switches
SERCOS Transmit (Tx) Connector

DPI Connector
SERCOS Receive (Rx) Connector
Integrated Axis Module, front view

SERCOS
(2094-AC05-M01 is shown) Node Address Switch
Seven Segment
Fault Status LED
Drive Status LED

COMM Status LED
Bus Status LED
I/O (IOD) Connector Auxiliary Feedback (AF) Connector

Motor Feedback (MF) Connector
Mounting Screw
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 Use the figure below to locate the Axis Module connectors and
indicators. Although the physical size of the 2094-BMxx (460V) AM is
Indicators 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)
Axis Module, top view

(2094-BMP5-S is shown)
Motor Cable
Shield Clamp
1 2 3 4
W Motor Power
V (MP) Connector
U
1 2 3 4 5 6 7 8 9
MBRK - 1 2 3 4 5 6
MBRK +
Safe-Off COM Motor/Resistive Brake
(SO) Connector PWR (BC) Connector
DBRK -
(present only on the 2094-BMxx-S) DBRK +
RX TX
BAUD
RATE
SERCOS Baud Rate

SERCOS Transmit (Tx) Connector

SERCOS Receive (Rx) Connector
Axis Module, front view

(2094-AM01 is shown)
Seven Segment
Fault Status LED
Drive Status LED

COMM Status LED
Bus Status LED
I/O (IOD) Connector Auxiliary Feedback (AF) Connector

Motor Feedback (MF) Connector
Mounting Screw
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 Use the table below and Figure 1.3 to locate the Shunt Module
connectors and indicators.
Locate Shunt Module Connectors
Designator Description Connector

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

Motor Cable
Shield Clamp
COL
1 2 3
INT
External Shunt Resistor
DC+ (RC) Connector
TS2 External Thermal Switch
1 2
TS1 (TS) Connector
Shunt Module, front view
Shunt Fault LED

Over-Temp Fault LED
Bus Status LED
Mounting Screw
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 Use the tables below and figures 1.4 and 1.5 to locate the Line
Interface Module connectors.
and Indicators
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

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)
Line Interface Module,

top view
(2094-AL09 is shown)
230 VAC LOAD

L1
Control Power Load
1 2
L2/N (CPL) Connector
24 VDC BRAKE SUPPLY
195-264 VAC LOAD

195-264 VAC LINE
1
PE PE
1 2 3 4
1 2 3 4
VAC Line
50/60 Hz
50/60 Hz
L3 MBRK PWR L3
VAC Load
4321
(IPL) Connector L2 MBRK COM
MBRK PWR
L2 1
(OPL) Connector
L1 MBRK COM L1 1
24 VDC Brake Power (PSL) Connector
Line Interface Module,

front view
(2094-AL09 is shown)
Brake Power Status LED
MAIN VAC AUX VAC BRAKE - I/O VAC
I/O Power Status LED
CB1 CB2 CB3 Line Interface Module 2094-AL09

200/230V AC 20A Output
Main Control/AUX Brake - I/O

I/O (IOL) Connector VAC VAC 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)
Auxiliary Power Input 1 2

L1
(APL) Connector 1 L2N
CONTROL VAC
CTRL2
Control Power Output (CPL) Connector
1 2
CTRL1
195-265 VAC LINE, 50/60 Hz
VAC Line
1 2 3 4
AUX2
230 VAC SUPPLY

2
L3
(IPL) Connector L2
AUX2
230V ac Auxiliary Power Output (P2L) Connector
3
AUX1
AUX1
L1
4
12 3 4 5 6
I/O_COM
195-265 VAC LOAD, 50/60 Hz
24 VDC SUPPLY
I/O_PWR
1
I/O_COM
I/O_PWR 24V dc Brake Power Output (P1L) Connector
VAC Load
2
L3' I/O_COM
(OPL) Connector L2'

I/O_PWR
3
L1'
4
Line Interface Module, top view

(2094-XL75S-Cx is shown)
I/O Power
Status LED
Main VAC
OFF
CB1
ON
MAIN VAC
I/O (IOL) Connector

IOL Connector
(as viewed from side)
CB3 CB2
Brake-I/O Fuse Control/AUX

VAC Block VAC
Line Interface Module, front view
(2094-XL75S-Cx is shown)
1 Auxiliary Power Input (APL) connector is only present on the 2094-XL75S-Cx model.

Locate SERCOS Interface Use the figure below to locate the SERCOS interface fiber-optic
connectors. The fiber-optic ring is connected using the SERCOS
Fiber-Optic Connectors 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
SERCOS interfaceTM
ControlLogix
1756-MxxSE SERCOS
CP OK
interface Module 0
F 1
ABCDE
23 6 7
45
RSLogix 5000 89
SoftLogix
OK 1784-PM16SE SERCOS interface PCI Card
(as viewed from the back of your PC)
CP
TX
SERCOS Transmit Connector, Tx
Tx (rear)
Front View Rx (front) RX

SERCOS Receive Connector, Rx
Bottom View SERCOS Receive Connector, Rx (front)
SERCOS Transmit Connector, Tx (rear)
Configure Your Kinetix 6000 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.

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
Decrements MSD Decrements LSD
MSD LSD
Increments MSD Increments LSD
Setting the base node address on the IAM determines the node
address for the IAM inverter. Node addressing for all slot locations
on the same power rail increment (from the IAM inverter) left to
right.
IMPORTANT After setting the base node address, always cycle

control power to initialize the IAM.
IMPORTANT When two or more IAMs are connected to the

same SERCOS interface module, each node
address must be unique.
Refer to figures 1.9, 1.10, and 1.11 for examples
of how node addresses are assigned.

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
0 SoftLogix
ABCDE
3456 72
89 F 1
OK
1784-PM16SE SERCOS
TX
CP
interface PCI Card

Transmit
RX
Receive
SERCOS fiber-optic ring
Receive Transmit Receive Transmit
Kinetix 6000 Kinetix 6000
Figure 1.9
Node Addressing Example 1
1756-MxxSE SERCOS
interface Module
SERCOS interfaceTM
CP OK
ControlLogix Chassis
Tx (rear)
Rx (front)
Transmit Receive
SERCOS Fiber-Optic ring
Receive Transmit
Kinetix 6000
Receive System 2
Transmit
(2-axis power rail)
Kinetix 6000
System 1
(6-axis power rail)
17 = AM (axis 2) node address
16 = IAM (axis 1) base node address
15 = Slot Filler node address
14 = Shunt Module node address
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.

IMPORTANT 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.
Figure 1.10
1756-MxxSE SERCOS 1756-MxxSE SERCOS
interface Module 1 interface Module 2
SERCOS interfaceTM SERCOS interfaceTM
CP OK CP OK
ControlLogix Chassis ControlLogix Chassis

Tx (rear) Tx (rear)
Rx (front) Rx (front)
Transmit Receive Transmit Receive
SERCOS Fiber-Optic rings
Transmit Receive
Receive Transmit
Kinetix 6000
(8-axis power rail)

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.

Figure 1.11
1756-MxxSE SERCOS
interface Module
SERCOS interfaceTM
CP OK
ControlLogix Chassis
Tx (rear)
Rx (front)
Transmit Receive
SERCOS Fiber-Optic ring
Receive Transmit
Kinetix 6000
(8-axis power rail)

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.

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
DIP switches set for DIP switches set for

Integrated Axis Module, top view 4M baud applications 8M baud applications
(2094-ACxx-Mxx) (high power setting) (high power setting)
3 2 1 3 2 1
ON ON
OFF OFF
Switch in OFF position

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

Switch
SERCOS Baud Rate turned around for clarity.

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 This procedure assumes that you have wired your Kinetix 6000 system
and have configured the Kinetix 6000 baud rate and optical power
SERCOS interface Module switches.
IMPORTANT In order for the Kinetix 6000 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 greater detail on the RSLogix 5000 software as it applies to

ControlLogix and SoftLogix modules, refer to the table below for the
appropriate publication.
For Refer to this Document Publication Number

Detailed information on configuring and Logix5000 Motion Modules User
troubleshooting your ControlLogix motion module Manual 1756-UM006
Detailed information on configuring and SoftLogix Motion Card Setup and 1784-UM003
troubleshooting your SoftLogix PCI card Configuration Manual
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.
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 Only one ControlLogix processor can be

assigned as the Coordinated System Time master.
7. Select OK.
Configure Your Logix Module
To configure your Logix module:
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
up to 3
1756-L60M03SE
1756-M08SE up to 8 4 or 8 Mbits/s
1756-M16SE or
up to 16
1784-PM16SE

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

up to 2 0.5 ms
up to 4 1 ms
4 Mbits/s
up to 8 2 ms
No support for axes 9 to 16
up to 4 0.5 ms
8 Mbits/s up to 8 1 ms
up to 16 2 ms
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:
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 Then select

includes this shunt option
Internal shunts only Internal or <none>
Bulletin 2094 (rail mounted) shunt module 2094-BSP2
Configured as an IAM or
Leader IAM (common bus) 1 Bulletin 1394 passive shunt module
1394-SRxxxx
(connected to the 2094-BSP2)
Bulletin 1336 active shunt module Internal or <none>
Configured as a Follower IAM 2 N/A. Shunts are disabled on Follower IAM CommonBus Follow
1
Drive will not accept Internal, <none>, 2094-BSP2, or 1394-SRxxxx selection if DC Bus voltage is present without
having three-phase power applied.
2
Drive will not accept CommonBus Follow selection if three-phase power is applied.
ATTENTION To avoid damage to your Bulletin 1394 external

shunt module, verify that the proper 230V or
460V fuse is installed prior to applying power.
Refer to the Kinetix 6000 Multi-Axis Servo Drive
Installation Instructions (publication 2094-IN001)
for fuse specifications.
IMPORTANT When configured to use the Bulletin 1394 or

2094 shunt modules, the IAM bus regulator
capacity attribute displays the shunt module or
passive shunt module utilization instead of the
IAM internal shunt resistor utilization.
IMPORTANT DC Common Bus applications must calculate

Total Bus Capacitance and Additional Bus
Capacitance and set the Add Bus Cap parameter
(x:x:x599) using DriveExplorer software. Refer to
Appendix D for the procedures.
12. Select OK.
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.
Kinetix 6000
If your Kinetix 6000 system Then
Go to Apply Power to Your Kinetix 6000 (with
Includes a (2094-xLxx or -xLxxS-xx) LIM LIM)
Does not include a (2094-xLxx or -xLxxS-xx) LIM Go to Apply Power to Your Kinetix 6000 (without
LIM)
ATTENTION 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.
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 Follow this procedure if your Kinetix 6000 system

includes a Line Interface Module (LIM).
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).
ATTENTION
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.
3. Apply three-phase input power to the LIM VAC Line connector.
4. Set CB3 on the LIM to the ON position.

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 Status Do This

LED is
Solid green Brake power is ready Go to step 6.
Go to Troubleshoot LIM Status LEDs
Not solid green Brake power fault on page 2-12.
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 Status Do This

LED is
Solid green I/O power is ready Go to step 7.
Go to Troubleshoot LIM Status LEDs
Not solid green I/O power fault
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 Then

Input signal is
0 volts Go to step 10.
1. Remove connection
24 volts 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
Logic Power LED
If the Logic Power LED Then

is
ON Go to step 11.
1. Check your control power
Not ON 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 drive is looking for a closed SERCOS
Actively cycling Check fiber-optic
ring. Wait for phase 1 or take corrective
(phase 0) connections.
action until you reach phase 1.
Displaying a fixed 1 The drive is looking for active nodes. Check node
Wait for phase 2 or take corrective action
(phase 1) addressing.
until you reach phase 2.
Check program
The seven segment Displaying a fixed 2 The drive is configuring nodes for motor and drive
status LED on your (phase 2) communication. Wait for phase 3 or take configuration
2094-xCxx-Mxx IAM corrective action until you reach phase 3. against installed
or hardware.
2094-xMxx AM
Displaying a fixed 3 The drive is configuring device specific Check motor
parameters. Wait for phase 4 or take catalog number
(phase 3)
corrective action until you reach phase 4. against selection.1
Displaying a fixed 4
The drive is configured and active. Go to step 12.
(phase 4)
Flashing an E Go to Error Codes
followed by two Drive is faulted.
on page 2-3.
numbers
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.
Go to Troubleshoot IAM/AM Status
Steady red Drive is faulted LEDs on page 2-8.
13. Observe the Comm Status LED.
If the Comm Status LED is Status Do This

Establishing communication
Flashing green Wait for steady green.
with network
Steady green Communication is ready Go to step 14.
Off No ring present
LEDs on page 2-8.
14. Observe the Bus Status LED.
If the Bus Status LED is Status Do This

1. Verify Hardware Enable Input
(IOD-2) is open.
2. Verify MSO instruction is not
Axis is enabled when status
Steady green commanded in RSLogix 5000.
should be disabled
3. Return to Apply Power to Your
Kinetix 6000 (with LIM) on
page 1-26.
Bus is up, axis is disabled
Flashing green 1 (normal status) Go to step 15.

Off DC bus is not present
LEDs on page 2-8.
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

Wait for steady green on all three
Flashing green and red Establishing communication
LEDs.
Steady green Communication ready Go to Test and Tune Your Axes.
Go to the appropriate Logix
Not flashing green and red/ SERCOS module is faulted motion module setup and
not steady green 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 Follow this procedure if your Kinetix 6000 system

does not include a Line Interface Module (LIM).
To apply power to your Kinetix 6000 system:
1. Disconnect the load to the motor(s).
ATTENTION 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.
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
Logic Power LED
If the Logic Power LED Then

is
ON Go to main step 3.
1. Check your control power
Not ON 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 drive is looking for a closed SERCOS
Actively cycling Check fiber-optic
ring. Wait for phase 1 or take corrective
(phase 0) action until you reach phase 1. connections.
The drive is looking for active nodes.

Displaying a fixed 1 Check node
Wait for phase 2 or take corrective action
(phase 1) addressing.
until you reach phase 2.
Check program
The seven segment Displaying a fixed 2 The drive is configuring nodes for motor and drive
status LED on your (phase 2) communication. Wait for phase 3 or take configuration
2094-xCxx-Mxx IAM corrective action until you reach phase 3. against installed
or hardware.
2094-xMxx AM The drive is configuring device specific Check motor
parameters. Wait for phase 4 or take catalog number
(phase 3)
corrective action until you reach phase 4. against selection.1
(phase 4) The drive is configured and active Go to step 4.
Flashing an E
Go to Error Codes
followed by two Drive is faulted
on page 2-3.
numbers
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.
If the Drive Status LED is Status Do This

Off Normal condition Go to step 5.
Steady red Drive is faulted LEDs on page 2-8.
5. Observe the Comm Status LED.
If the Comm Status LED is Status Do This

Establishing communication
Flashing green Wait for steady green.
with network
Steady green Communication is ready Go to step 6.
Off No ring present Go to Troubleshoot IAM/AM Status

LEDs on page 2-8.

6. Observe the Bus Status LED.
If the Bus Status LED is Status Do This

1. Verify Hardware Enable Input
(IOD-2) is open.
DC bus is present. Axis is 2. Verify MSO instruction is not
Steady green enabled when status should commanded in RSLogix 5000.
be disabled.
3. Return to Apply Power to Your
Kinetix 6000 (without LIM) on
page 1-30.
Bus is up, axis is disabled
Flashing green 1 (normal status) Go to step 7.

Off DC bus is not present
LEDs on page 2-8.
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

Wait for steady green on all three
Flashing green and red Establishing communication
LEDs.
Steady green Communication ready Go to Test and Tune Your Axes.
Go to the appropriate Logix
Not flashing green and red/ motion module setup and
SERCOS module is faulted
not steady green 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 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 greater detail on the RSLogix 5000 software as it applies to

ControlLogix and SoftLogix modules, refer to the table below for the
appropriate publication.
For Refer to this Document Publication Number

Detailed information on configuring and Logix5000 Motion Modules User
troubleshooting your ControlLogix motion module Manual 1756-UM006
Detailed information on configuring and SoftLogix Motion Card Setup and 1784-UM003
troubleshooting your SoftLogix PCI card Configuration Manual
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:
1. Verify the load was removed from each axis.
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

Verifies marker detection capability
Test Marker
as you rotate the motor shaft.
Verifies feedback connections are
Test Feedback wired correctly as you rotate the
motor shaft.
Verifies motor power and feedback
Test Command & connections are wired correctly as
Feedback 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.
ATTENTION To avoid personal injury or damage to

equipment, apply 24V ENABLE signal (IOD-2)
only to the axis you are testing.

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

to verify connections. The Online Command 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 1. Select OK.
appears:
2. Remove Hardware Enable Input
signal (IOD-2).
3. Go to Tune Your Axes.
1. Select OK.
Your test failed, this widow appears: 2. Verify the Bus Status LED turned
solid green during the test.
3. Verify that the Hardware Enable
Input signal (IOD-2) is applied to
the axis you are testing.
4. Verify conversion constant entered
in the Conversion tab.
5. Return to 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.
ATTENTION
To reduce the possibility of unpredictable motor
response, tune your motor with the load
removed first, then re-attach the load and
perform the tuning procedure again to provide
an accurate operational response.
2. Select the Tune tab.
3. Enter values for Travel Limit and Speed. In this example, Travel
Limit = 5 and Speed = 10.
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.
ATTENTION
To avoid personal injury or damage to
equipment, apply 24V ENABLE signal (IOD-2)
only to the axis you are tuning.

7. Select the Start Tuning button to auto-tune your axis. 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 1. Select OK.
appears:
2. Remove the Hardware Enable
Input signal (IOD-2) applied
earlier.
3. Go to step 12.
1. Select OK.
Your test failed, this widow appears:
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.
12. Repeat Test and Tune Your Axes for each axis.

Chapter 2
Troubleshoot Your Kinetix 6000
Chapter Objectives 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 Observe the following safety precautions when troubleshooting your
Kinetix 6000 drive.
ATTENTION
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.
General Troubleshooting 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.
If the Logic Power LED is ON and the

Status LED display on your Is Then
Your Kinetix 6000 drive is ready, but SERCOS

Actively cycling segments in a full circle communications is not available.
2094-xCxx-Mxx-x IAM
Displaying a fixed 4 Your Kinetix 6000 drive is ready.
Your Kinetix 6000 drive has an error. Proceed
All drives Flashing an E followed by two numbers to the section Error Codes.

Troubleshoot Your Kinetix 6000 2-3
Error Codes
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.
Error Fault Message

Code RSLogix (HIM) Problem or Symptom is Potential Cause is Possible Resolution is
No AC power or auxiliary logic power. Verify AC control power is applied to the

Power (PWR) indicator not Kinetix 6000.
ON Call your Allen-Bradley representative to
Internal power supply malfunction.
return module for repair.
• Check motor wiring.
Motor jumps when first Motor wiring error.
• Run Hookup test in RSLogix 5000.
enabled
Incorrect motor chosen. Verify the proper motor is selected.
Digital I/O not working I/O power supply disconnected. Verify connections and I/O power source.
correctly
BusUndervoltage
Fault A blown fuse was detected Call your Allen-Bradley representative to
E00 on the inverter PCB Blown fuse. return module for repair.
(Blown fuse)
• Operate within (not above) the
• High motor ambient temperature continuous torque rating for the
and/or ambient temperature
40 °C (104 °F) maximum.
MotorOvertemp
Motor thermal switch • Excessive current • Lower ambient temperature, increase
E04 Fault
tripped motor cooling.
(Motor Overtemp)
Motor wiring error. Check motor wiring at MF connector on the
IAM/AM.
Incorrect motor selection. Verify the proper motor has been selected.
Verify continuity of motor power cable and
Motor cables shorted. connector.
Disconnect motor power cables from the
Motor winding shorted internally. motor. If the motor is difficult to turn by
hand, it may need to be replaced.
• Check for clogged vents or defective
fan.
Kinetix 6000 temperature too high.
• Ensure cooling is not restricted by
Self-protection of the insufficient space around the unit.
DriveOvercurrent Intelligent Power Module
E05 Fault (IPM) is indicating a major • Verify ambient temperature is not too
(Power Fault) power related fault high.
condition. Operation above continuous power rating
and/or product environmental ratings. • Operate within the continuous power
rating.
• Reduce acceleration rates.
Remove all power and motor connections,
and preform a continuity check from the DC
Kinetix 6000 has a short circuit, bus to the U, V, and W motor outputs. If a
overcurrent, or failed component. continuity exists, check for wire fibers
between terminals, or send drive in for
repair.

Error Fault Message

HardOvertravel • Check wiring.

Axis moved beyond the
E06 Fault physical travel limits in the Dedicated overtravel input is inactive. • Verify motion profile.
(+/- Hard Overtravel) positive/negative direction.
• Verify axis configuration in software.
MotFeedbackFault • Check motor encoder wiring.
E07 The feedback wiring is open, shorted, or missing.
(Motor Feedback Loss) • Run Hookup test in RSLogix 5000.
• Verify voltage level of the incoming AC
power.
With three-phase power
present, the DC bus • Check AC power source for glitches or
line drop.
voltage is below limits. • DC bus voltage for 460V system is
BusUndervoltage below 275V • Install an uninterruptible power supply
E09 Fault (UPS) on your AC input.
(Bus Undervoltage) • DC bus voltage for 230V system is
DC bus voltage fell below below 137V
the undervoltage limit Disable follower axis before removing
while an axis on the power.
follower power rail was
enabled.
Excessive regeneration of power.
• Change the deceleration or motion
When the motor is driven by an external profile.
mechanical power source, it may
regenerate too much peak energy • Use a larger system (motor and Kinetix
DriveOvervoltage through the Kinetix 6000’s power supply. 6000).
Fault The DC bus voltage is The system faults to save itself from an • Install shunt module.
E10 above limits.
(Bus Overvoltage) overload.
• DC bus voltage for 460V system is
over 820V
Verify input is within specifications.
• DC bus voltage for 230V system is
over 410V
• Verify the Hall wiring at the MF
MotFeedbackFault State of Hall feedback connector on the IAM/AM.
E11 inputs is incorrect. Bad connections.
(Illegal Hall State)
• Verify 5V power supply to the encoder.
Softovertravel • Verify motion profile.
Fault
E16 Axis position exceeded maximum software setting. • Verify overtravel settings are
(+/- Software
Overtravel) appropriate.
OverSpeedFault Motor speed has exceeded 150% of maximum rated speed. The 100% • Check cables for noise.
E18 trip point is dictated by the lesser of the user velocity limits or the
(Overspeed Fault) motor rated base speed. • Check tuning.
• Increase the feed forward gain.

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

Error Fault Message

• Verify motor selection.

MotFeedbackFault • Verify the motor supports automatic
E30 Communication was not established with an intelligent encoder. identification.
(Motor Feedback Comm)
• 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.
Disconnect motor power cable from drive
Excessive ground current in and enable drive with current limit set to 0.
GroundShortFault Internal malfunction. If fault clears, then a wiring error or motor
E34 the converter was
(Ground Fault) detected. internal problem exists. If fault remains,
call your A-B representative.
• Remove ground from control power
input.
Grounded control power terminal • Wire control power to use main power
(applies to 230V systems only) as shown in Figure A.3.
• Add isolation transformer for control
power.
DriveUndervoltage Low AC input voltage. Check input AC voltage on all phases.
E35 Fault Converter pre-charge cycle
failed. Internal malfunction. Call your A-B representative.
(Pre-charge Fault)
• Reduce acceleration rates.
• Reduce duty cycle (ON/OFF) of
commanded motion.
DriveOvertemp • Increase time permitted for motion.
Fault Converter thermal switch Excessive heat exists in the power
E36 tripped. circuitry. • Use larger Kinetix 6000 converter.
(System
Overtemperature) • Check for clogged vents or defective
fan.
• Ensure cooling is not restricted by
insufficient space around the unit.
• One or more phases of the input AC power is missing.
PowerPhaseLoss • Check input AC voltage on all phases.
E37 Fault • Axis was enabled when main (3-phase) power was removed.
(Phase Loss Flt) • Common bus follower axis was enabled when DC bus power was • Disable axis before removing power.
removed.
SERCOSFault The SERCOS ring is not Check that fiber-optic cable is present and
E38 active after being active Cable disconnected. connected properly.
(SERCOS Ring Flt) and operational.
• Verify that there are no impediments to
motion at startup, such as hard limits.
E39
DriveHardFault Self-sensing Commutation Motion required for self-sensing startup • Increase self-sensing current if high
(Self Sense Flt) Startup Error commutation was obstructed. friction or load conditions exist.
• Check motor or encoder wiring using
wiring diagnostics.
• An attempt was made to enable the • Disable the Drive Enable Input fault.
axis through software while the Drive
DriveEnableInput Enable hardware input was inactive. • Verify that Drive Enable hardware input
E43 Fault Missing Drive Enable Input is active whenever the drive is enabled
Signal • The Drive Enable input transitioned through software.
(Drive Enable Flt)
from active to inactive while the axis
was enabled.

Error Fault Message

DriveHardFault For symptom, cause, and resolution of this error code, refer to the Kinetix Safe-Off Feature Safety Reference Manual
E49 (publication GMC-RM002). Applies to IAM (2094-xCxx-Mxx-S) and AM (2094-xMxx-S) with Safe-Off feature.
(Safe-Off HW Flt)
SERCOSFault Verify that each SERCOS drive is assigned
E50 Duplicate node address detected on SERCOS ring.
(SERCOS Same ADDR) a unique node address.
DriveHardFault
E54 Current feedback hardware fault detected. Replace the module
(Ifbk HW Fault)
DriveHardFault
E60 Illegal ID bits detected Replace the module
(Unknown Axis)
• Use shielded cables with twisted pair
wires.
AuxFeedbackFault Auxiliary Encoder State The auxiliary encoder encountered an • Route the feedback away from
E61 potential noise sources.
(Aux Fdbk AQB) Error illegal transition.
• Check the system grounds.
• Replace the motor/encoder.
AuxFeedbackFault Check the motor feedback cable

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

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

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

Error Fault Message

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

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

E74 Fault DC link current exceeds • Check/replace motor.
rating.
(Bus OverCurrent) • Check for proper IAM sizing.
IAM not properly sized.
• Install larger kW rated IAM.
• Use a properly sized shunt or modify
DriveOvervoltage duty cycle of the application.
E75 Fault The IAM, AM, or SM has exceeded its shunt resistor continuous rating. • System uses internal shunt and
(Shunt Time Out) requires external shunt for additional
capacity.
• Reset System.
DriveHardFault DPI hardware initialization
E76 Control board hardware failure. • If fault persists, replace system
(Can Init) fault detected.
module.
DriveHardFault Either 230V AM is installed on power rail with 460V IAM, or 460V AM
E77 is installed on power rail with 230V IAM. Replace mismatched module.
(Module Mismatch)
DriveHardFault • Cycle power.
E78 Control hardware fault detected.
(SERCOS Init) • If fault persists, replace module.
SM Temperature Fault LED
status is Steady Red Refer to Temperature Fault LED on page 2-11.
DriveOvervoltage
Fault SM Shunt Fault LED status
E79 is Steady Red Refer to Shunt Fault LED on page 2-11.
(Shunt Module Flt)
• Install missing module on power rail.
Module missing from power rail.
• Fill empty slot with slot filler module.
DriveHardFault
E80 Control hardware fault detected. Replace module.
(CPLD FLT)
DriveHardFault Remove AC input power connections from
E81 Follower IAM detected AC input power being applied. Follower IAM.
(Common Bus FLT)
DriveHardFault
E90 Pre-charge resistor power exceeds the resistor rating. Allow resistor to cool.
(Pre-charge Timeout FLT)
All Call your local Allen-Bradley
others RESERVED representative.

Troubleshoot IAM/AM Drive Status LED

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 Refer to the section Error Codes and continue
troubleshooting.
Comm Status LED

Use the table below for troubleshooting the Comm Status LED on your
If the Comm Status Status is Potential Cause is Possible Resolution is

LED is
Steady Green Communication ready No faults or failures. N/A
System is still in the process of establishing
SERCOS communication. Wait for steady green LED status.
Flashing Green Establishing
communication Node address setting on the drive module
does not match SERCOS controller Verify proper node switch setting.
configuration.
Loose fiber-optic connection. Verify proper fiber-optic cable connections.
Broken fiber-optic cable. Replace fiber-optic cable.
Off No communication 1
Receive fiber-optic cable connected to Check proper SERCOS fiber-optic cable
SERCOS transmit connector and vice versa. connections.
1 Refer to Fiber Optic Cable Installation and Handling Instructions (publication 2090-IN010) for more information.

Bus Status LED
Use the table below for troubleshooting the Bus Status LED on your
If the Bus Status LED is Status is Condition

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

Troubleshoot SM Status Each of the shunt module LEDs provide specific troubleshooting
information, as described in Bus Status LED, Temperature Fault LED,
LEDs 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.
• Using RSLogix MASR, MAFR, MGSR commands or the HIM (red
stop button).
• Only after the DC bus is discharged (SM Bus Status LED is
Cleared flashing).
• Drive must be configured with 2094-BSP2 or Bulletin 1394 external
shunt module.
IAM/AM Internal Shunts Under these Conditions

are
• When the 2094-BSP2 shunt module is used on a 230V system.
Disabled (for DC Bus • When either 230V or 460V system is configured with a Bulletin
regulation) 1394 external shunt module.
• When configured in common bus follower mode.
Enabled to discharge the Drive (IAM or IAM Leader) three-phase power is removed.
DC Bus
Disabled from discharging
the DC bus When configured in common bus follower mode.
IMPORTANT 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.
Status is Potential Cause is Possible Resolution is

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

Bus Status LED
Use the table below for troubleshooting the Bus Status LED on your
Kinetix 6000 SM (2094-BSP2).
If the Bus Status Status is Potential Cause is Possible Resolution is

LED is
Flashing Normal condition when control power is applied and bus voltage is less than N/A
60V dc.
Normal condition when control power is applied and bus voltage is greater
Steady Green than 60V dc. N/A
Off Control power is not present Internal power supply failure Replace shunt module.
Temperature Fault LED
Use the table below for troubleshooting the Temperature Fault LED on
your Kinetix 6000 SM (2094-BSP2).
If the Temp Fault Status is Potential Cause is Possible Resolution is

LED is
Off Normal condition N/A
Shunt module fan failed Replace shunt module.
SM internal temperature
exceeds operating • Allow shunt module to cool.
temperature specification Shunt module temperature exceeds rating • Reset faults.
• Verify IAM bus regulator configuration.
Steady Red
• Allow shunt module to cool.
External over temperature External temperature switch is open • Reset faults.
condition • Verify IAM bus regulator configuration.
TS jumper is not present Install jumper.
Shunt Fault LED
Use the table below for troubleshooting the Shunt Fault LED on your
Kinetix 6000 SM (2094-BSP2).
If the Shunt Fault

LED is Status is Potential Cause is Possible Resolution is
Off Normal condition N/A

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

Troubleshoot LIM Status The following troubleshooting table applies to the following Line
Interface Module status LEDs:
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
• 24V power disabled • Set breaker to on position.
(2094-AL75S, -BL75S, and CB3 is open
XL75S-Cx) • If breaker continues to trip, call your Allen-Bradley
representative to return module for repair.
Off • Brake power disabled
(2094-AL09, and -BL02) • Correct polarity.
24V polarity is
• I/O power disabled reversed at the load • If polarity is correct and LED is not steady green, call your
(2094-AL09, and -BL02) Allen-Bradley representative to return module for repair.
Troubleshoot RBM Status The Resistive Brake Module (RBM) contactor status LED is visible from
the front of the RBM. Use the table below for troubleshooting the
LEDs RBM status LEDs.
24V dc Status LED
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
Contactor engaged
(direct connection between drive and No faults or failures N/A
motor)
Steady Green
Contactor disengaged • Monitor CONSTAT_41/42 status to verify lack of
(no connection between drive and Contactor failure drive/motor power (output is NC).
motor) • Contact A-B representative.
• Verify ground wiring.
Recommended grounding • Route wires away from noise sources.
not followed
Blinking Green Contactor rapidly engaging/ • Refer to System Design for Control of Electrical Noise
(audible clicking) disengaging Reference Manual (publication GMC-RM001).
Control circuit improperly Verify control wiring and programming.
wired
Off No faults or failures N/A
(intended)
• +24V supply is off.
Contactor disengaged
(connection open between drive and +24V not applied between • Verify wiring.
Off motor) COIL_A1 and COIL_A2 • Drive not enabled.
(unintended)
• Contact A-B representative.
T1 (Fault) thermostat open Duty cycle exceeded, allow RBM to cool.

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).
If 230V Status LED Contactor Status is Potential Cause is Possible Resolution is

is
Contactor Engaged No faults or failures N/A
(direct connection between drive and motor)
Steady Green • Monitor CONSTAT_41/42 status to

Contactor Disengaged verify lack of drive/motor power
(no connection between drive and motor) Contactor failure (output is NC).
• Verify ground wiring.
• Route wires away from noise
Grounding sources.
• Refer to System Design for Control of
Electrical Noise Reference Manual
Blinking Green Contactor rapidly engaging/disengaging (publication GMC-RM001).
(audible clicking)
• Check VAC loading.
230V ac is varying • Check VAC source.
• Verify wiring.
Control circuit improperly wired Verify control wiring and programming.
• Monitor CONSTAT_41/42 status to
Contactor failure verify lack of drive/motor power
Off Contactor Engaged (output is NC).
(contacts welded together)
(intended) • Contact A-B representative.
Contactor Disengaged No faults or failures N/A
• Monitor CONSTAT_41/42 status to
Contactor failure verify lack of drive/motor power
(contacts welded together) (output is NC).
Contactor Engaged
LED failure • Contact A-B representative.
Off
(unintended) +24V signal not functioning properly Refer to 24V dc Status LED
troubleshooting table on page 2-12.
Contactor Disengaged Contactor failure (coil damaged) Contact A-B representative.

• Verify wiring.
No 230V ac signal
• Verify 230V ac source.

Troubleshoot General Use the tables below for troubleshooting general system faults. For a
list of Bulletin 1756 product manuals, refer to Related Documentation
System Problems in the Preface.
Condition Potential Cause is Possible Resolution is

The position feedback device is incorrect or open. Check wiring.
Check to see what primary operation mode
Unintentionally in torque 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 Run Tune in RSLogix 5000.
improperly set.
Axis or System is unstable Improper grounding or shielding techniques are causing noise to
be transmitted into the position feedback or velocity command Check wiring and ground.
lines, causing erratic axis movement.
Motor Select limit is incorrectly set (servo motor is not matched • Check setups.
to axis module). • Run Tune in RSLogix 5000.
Notch filter or output filter may be required
Mechanical resonance (refer to Axis Properties window, Output tab
in RSLogix 5000).
Torque Limit limits are set too low. Verify that current limits are set properly.
Select the correct motor and run Tune in
Incorrect motor selected in configuration. RSLogix 5000 again.
• Check motor size vs. application need.
The system inertia is excessive.
• Review servo system sizing.
You cannot obtain the motor
acceleration/deceleration The system friction torque is excessive. Check motor size vs. application need.
that you want • Check motor size vs. application need.
Available current is insufficient to supply the correct accel/decel
rate. • Review servo system sizing.
Verify limit settings and correct them, as
Acceleration limit is incorrect. necessary.
Verify limit settings and correct them, as
Velocity Limit limits are incorrect. necessary.
The axis cannot be enabled for 1.5 seconds after disabling. 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.
Motor does not respond to a • Check for a fault.

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

Condition Potential Cause is Possible Resolution is

• Verify grounding.
• Route wire away from noise sources.
Recommended grounding per installation instructions have not
been followed. • Refer to System Design for Control of
Electrical Noise (publication
GMC-RM001).
Presence of noise on
Command or motor feedback • Verify grounding.
signal wires Line frequency may be present.
• Route wire away from noise sources.
Variable frequency may be velocity feedback ripple or a • Decouple the motor for verification.
disturbance caused by gear teeth or ballscrew balls etc. The
frequency may be a multiple of the motor power transmission • Check and improve mechanical
components or ballscrew speeds resulting in velocity performance of the gearbox, ballscrew,
disturbance. etc.
The motor connections are loose or open. Check motor wiring and connections.
Foreign matter is lodged in the motor. Remove foreign matter.
The motor load is excessive. Verify the servo system sizing.
No Rotation The bearings are worn. Return the motor for repair.
• Check brake wiring and function.
The motor brake is engaged (if supplied).
• Return the motor for repair.
The motor is not connect to the load. Check coupling.
Change the command profile to reduce accel/
The duty cycle is excessive. decel or increase time.
Motor Overheating
The rotor is partially demagnetized causing excessive motor Return the motor for repair.
current.
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.
Abnormal Noise
Through bolts or coupling is loose. Tighten bolts.
The bearings are worn. Return motor for repair.
Notch filter may be required (refer to Axis
Mechanical resonance Properties 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.
Erratic Operation - Motor
locks into position, runs Sine, Cosine or Rotor leads are reversed in the feedback cable
without control or with connector. Check and correct motor feedback wiring.
reduced torque
Sine, Cosine, Rotor lead sets of resolver feedback are reversed. Check and correct motor feedback wiring.

Understand Logix/Drive This section provides the drive fault actions and indicates whether the
fault action is programmable.
Fault Behavior
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.
Logix configuration for velocity loop Kp/Ki is followed. When zero speed is
reached or stopping time is exceeded, the drive is disabled.
Stop Motion
Note: Stopping time and stopping torque are configurable parameters in
RSLogix 5000.
Status Only Drive continues to operate. Status is provided by 7-Segment Fault Status
LED, Drive Status LED, and DPI (if used).
RSLogix
Fault Message RSLogix Error Description Drive Fault Programmable
(HIM) Code Action Fault Action?
BusUndervoltageFault
E00 A blown fuse was detected in the inverter pcb. SHUTDOWN N
(Blown fuse)
The motor thermal switch was tripped.
MotorOvertempFault Note: Firmware I2t protection does not generate a fault, rather it
E04 dynamically folds back current when 110% of motor rating is STOP Y
(Motor Overtemp)
reached. Setting the Motor Thermal fault action to Status Only
will bypass this function.
DriveOvercurrentFault An instantaneous over-current was detected in the inverter power
E05 section. SHUTDOWN N
(Power Fault)
HardOvertravelFault Axis moved beyond the physical travel limits in the positive/negative
E06 direction. This fault can be configured for status only. STOP Y
(+/- Hard Overtravel)
MotFeedbackFault
E07 The feedback wiring is open, shorted or missing. DISABLE N
(Motor Feedback Loss)
With 3 phase present, the DC bus voltage is below limits. The trip
BusUndervoltageFault point is 275V and 137V DC for 460V/230V drives respectively.
E09 SHUTDOWN N
(Bus Under Voltage) DC bus voltage is below limits when any axis on common bus
follower power rail was enabled.
DriveOvervoltageFault The DC bus voltage is above limits. The trip point is 820V and 410V
E10 DC for 460V/230V drives respectively. SHUTDOWN N
(Bus Overvoltage)
MotFeedbackFault
E11 State of Hall feedback inputs in incorrect. DISABLE N
(Illegal Hall State)
SoftovertravelFault Axis position exceeded maximum software setting in the positive/
E16 negative direction. This fault can be configured for status only. STOP Y
(+/- Software Overtravel)
OverSpeedFault Axis speed has reached 150% of the maximum rated setting. The
E18 100% trip point is dictated by the lesser of the user velocity limits or DISABLE N
(Overspeed Fault) the motor rated base speed.
PositionErrorFault Axis position error limit has been exceeded. This fault can be
E19 configured for status only. STOP Y
(Follow Error)

RSLogix
MotFeedbackFault
E20 Motor encoder has encountered an illegal state transition. DISABLE N
(Mtr Fdbk AQB)
AuxFeedbackFault Communication was not established with an intelligent (i.e.
E21 STOP N
(Aux Feedback Comm) Stegmann) encoder on the Auxiliary feedback port.
MotFeedbackFault Communication was not established with an intelligent (i.e.

E30 STOP N
(Motor Feedback Comm) Stegmann) encoder on the Motor feedback port.
GroundShortFault
E34 Excessive ground current in the converter was detected. SHUTDOWN N
(Ground Fault)
DriveUndervoltageFault
E35 The converter pre-charge cycle has failed. SHUTDOWN N
(Precharge Fault)
DriveOvertempFault
E36 Converter internal temperature limit exceeded. SHUTDOWN N
(System Overtemperature)
• One or more phases of the input AC power is missing.
PowerPhaseLossFault • Axis was enabled when main (3-phase) power was removed.
E37 SHUTDOWN/ STOP N
(Phase Loss Flt) • Common bus follower axis was enabled when DC bus power was
removed.
SERCOSFault
E38 The SERCOS ring is not active after being active and operational. STOP N
(SERCOS Ring Flt)
DriveHardFault
E39 Self-sensing commutation fault detected DISABLE N
(Self Sense Flt)
DriveEnableInputFault
E43 Generated when Enable input switches off when drive is enabled. STOP Y
(Drive Enable Flt)
Safe-off function mismatch. Drive will not allow motion. Refer to the
DriveHardFault Kinetix Safe-Off Feature Safety Reference Manual (publication
E49 GMC-RM002) for more information. Applies to IAM SHUTDOWN N
(Safe-Off HW Flt)
(2094-xCxx-Mxx-S) and AM (2094-xMxx-S) with Safe-Off feature.
SERCOSFault
E50 Duplicate node address detected on SERCOS ring. STOP N
(SERCOS Same ADDR)
DriveHardFault
E54 Current feedback hardware fault detected. SHUTDOWN N
(Ifbk HW Fault)
DriveHardFault
E60 Invalid module type identified by firmware during power on SHUTDOWN N
(Unknown Axis)
AuxFeedbackFault
E61 Auxiliary encoder has encountered an illegal state transition. DISABLE N
(Aux Fdbk AQB)
AuxFeedbackFault
E62 The feedback wiring is open, shorted or missing. DISABLE N
(Aux Fdbk Loss)
AuxFeedbackNoise
E63 Presence of noise on auxiliary feedback cable.
(Aux Fdbk Noise)
DISABLE Y
MotorFeedbackNoise
E64 Presence of noise on motor feedback cable.
(Mtr Fdbk Noise)
No Fault Message
(condition indicated by
on-screen message) E65 Hookup procedure failed DISABLE N
(Hookup Fault)

RSLogix
No Fault Message
(condition indicated by
on-screen message) E66 Autotune procedure failed DISABLE N
(Atune Flt)
DriveHardFault
E67 Operating System Failed SHUTDOWN N
(Task init)
DriveHardFault
E68 DPI Communication Failed STOP N
(SCANport Comm)
DriveHardFault
E69 Non-Volatile Memory attribute out of range SHUTDOWN N
(Objects Init)
DriveHardFault
E70 Non-Volatile Memory Corrupted SHUTDOWN N
(NV Mem Init)
DriveHardFault
E71 RAM or Flash memory validation failure. SHUTDOWN N
(Memory Init)
Inverter temperature limit exceeded.
DriveOvertempFault
E72 Note: Firmware I2t protection does not generate a fault, rather it SHUTDOWN Y
(Drive Overtemp) dynamically folds back current when 110% of drive rating is
reached.
Communicate
E73 Power Rail Backplane CAN communications failed STOP N
(Backplane Comm)
DriveOvercurrentFault
E74 The converter has exceeded its converter rating. SHUTDOWN N
(Bus OverCurrent)
The IAM, AM, or SM has exceeded its shunt resistor continuous
DriveOvervoltageFault rating.
E75 SHUTDOWN N
(Shunt Time Out) Note: SHUTDOWN for IAM, DISABLE for AM. IAM also provides
fault handling for Shunt Module.
DriveHardFault
E76 Either DPI or Backplane CAN initialization failure SHUTDOWN N
(Can Init)
DriveHardFault Generated by IAM if the power rating of one of the AM’s on the
E77 power rail does not match with IAM input power rating SHUTDOWN N
(Module Mismatch)
DriveHardFault
E78 Control hardware fault detected SHUTDOWN N
SERCOS Init
DriveOvervoltageFault Power Rail mounted Shunt Module Fault. Displayed on IAM
E79 7-segment fault status LED. SHUTDOWN N
(Shunt Module Flt)
HardwareFault
E80 Control hardware fault detected SHUTDOWN N
(CPLD FLT)
HardwareFault
E81 Common Bus Follower IAM detected AC input power being applied. SHUTDOWN N
(Common Bus FLT)
HardwareFault
E90 Pre-charge resistor power exceeds the resistor rating. SHUTDOWN N
(Pre-charge Timeout FLT)
All
RESERVED Others

Supplemental This section provides information for accessing and changing

parameters not accessible through RSLogix 5000 software.
Troubleshooting
Information
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 Software 1 9306-4EXP02ENE 2.01 or later

DriveExplorer
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 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.
Figure 2.1
DriveExplorer Example

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
26-pin IAM/AM
I/O Connector
Pin 18
Pin 9
Pin 26
Pin 19 Pin 1
Pin 10
Refer to the Kinetix 6000 Multi-Axis Servo Drive Installation Manual

(publication 2094-IN001) for analog output specifications.

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 Number1 Default Value1 Parameter Number1 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 Number4
Velocity Feedback1 xx40
Velocity Commanded1 xx36
Torque Feedback2 xx84
Torque Commanded2 xx80
Following Error3 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 Use these procedures to:

System Components • 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
ATTENTION
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.
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

Remove Modules from the To remove module(s) from the power rail:
Power Rail 1. Verify that all control and input power has been removed from the
system.
ATTENTION 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.
2. Allow five minutes for the DC bus to completely discharge before

proceeding.
ATTENTION
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.
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
Use flat blade screwdriver with

Vertical Cable Clamp Motor 3.5 mm (0.14 in.) tip to depress Horizontal Cable Clamp
Orientation Example Cable spring and remove cable. Orientation Example
Cable Clamp
Cable Clamp
Screwdriver tip in slot

Vent holes on top of IAM/AM

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
Guide Pin(s)
Integrated Axis Module

Power Rail
(side view)
(side view)
Replace Power Rail To replace the power rail module(s):

Modules 1.
If you are Then
Replacing a power rail module on
Go to step 3.
the existing power rail
Replacing a power rail module on a
Go to step 2.
new power rail
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.

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.
Remove the Power Rail 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)
Braided Ground Strap
100 mm (3.9 in.)
Bonded Cabinet Ground
Figure 2.6
Removing Ground Strap (2094-PRSx)
Braided Ground Strap

100 mm (3.9 in.)
Bonded Cabinet Ground
2. Loosen the mounting bolts (removing the bolts is not necessary).
3. Lift the power rail up and off of the mounting bolts.

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 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.
ATTENTION 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 replace the power rail:
1. Align the replacement power rail over the existing mounting bolts.
IMPORTANT To improve the bond between the power rail and

subpanel, construct your subpanel out of zinc
plated (paint-free) steel.
2. Tighten the mounting bolts.
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 To remove the Line Interface Module (LIM):
Module 1. Verify that all input power has been removed from the LIM.
ATTENTION
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.
2. Allow five minutes for the DC bus to completely discharge before

proceeding.
ATTENTION 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 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
Module the LIM you just removed.
IMPORTANT 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.
1. Align the replacement LIM over the existing mounting bolts.
IMPORTANT To improve the bond between the LIM and

subpanel, construct your subpanel out of zinc
plated (paint-free) steel.
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.
5. Verify that the LIM is operating properly.

Appendix A
Interconnect Diagrams
Chapter Objectives 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
Kinetix 6000 Interconnect This section provides interconnect diagram notes to assist you in
wiring the Kinetix 6000 system. The notes apply to the interconnect
Diagram Notes diagrams on the pages that follow.
ATTENTION
The National Electrical Code and local electrical
codes take precedence over the values and methods
provided. Implementation of these codes is the
responsibility of the machine builder.

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
ATTENTION
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
ATTENTION
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 mm2 (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.

Interconnect Diagrams A-3
Power Interconnect The interconnect wiring for an IAM is shown beginning below.
Diagrams 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)
Kinetix 6000
INTEGRATED AXIS MODULE
2094-ACxx-Mxx or -BCxx-Mxx
Power Rail
Bonded Cabinet Ground Stud
Ground Bus*
Note 9
Kinetix 6000 Cable Shield

Clamp
LINE INTERFACE MODULE
2094-AL09 or -BL02 4
Three-Phase
3
Single-Phase (CPL) Output 1 1 Motor Power W Motor Power
L2 CTRL 2 Control Power 2 Connections
195-264V ac RMS 2 2 (MP) Connector V
L1 CTRL 1 (CPD) Connector Note 14
Notes 1 1
U
1
DC-
2 DC Bus
DC+
3 and
Ground 3-Phase
VAC LINE Three-Phase (IPL) Input VAC LOAD 3-Phase (OPL) Output 4 Input (IPD)
L3 L3' L3
195-264V ac RMS 195-264V ac RMS 5 Connector
or 324-528V ac RMS L2 or 324-528V ac RMS L2' L2
6
Note 1 L1 Note 1 L1' L1
1
MBRK_PWR
2
24V dc Output MBRK_COM
3
(PSL) Connector MBRK_PWR
4 6
MBRK_COM BR-
MBRK - Motor Brake
5 BR+ Connections
MBRK +
4
COM
24-26 Motor/Resistive 3
IO_PWR Brake (BC) Connector PWR
2 BR-
I/O (IOL) STOP * DBRK - Resistive Brake
Connector 1 BR+
13 DBRK + Connections
Note 11, 12 COIL_A1
20-22 1
IO_COM CONT EN- Contactor Enable
4 2 (CED) Connector
COIL_A2 CONT EN+
Note 12
* INDICATES USER SUPPLIED COMPONENT

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)
Kinetix 6000
(IAM_1)
Bonded Cabinet Power Rail Note 9

Ground Bus* Ground Stud
Cable Shield
Clamp
Kinetix 6000 4
LINE INTERFACE MODULE 3 Three-Phase
Motor Power W Motor Power
2094-AL75S, -BL75S, or -XL75S-Cx (MP) Connector 2 Connections
V
1 Note 14
Note 4 1 U
Control Power CTRL 2 1 CTRL 2 Control Power
Single-Phase (CPL) Output 2 2 (CPD) Connector
195-264V ac RMS CTRL 1 CTRL 1
Note 1
To CPD connector,
IAM_2
Note 6
1
DC-
2 DC Bus
DC+ and
1 1 Note 4 3
VAC LOAD 3-Phase
VAC LINE 2 3-Phase (OPL) Output 2 Three-Phase 4 Input (IPD)
L3 L3' L3
3-Phase (IPL) Input 3 195-264V ac RMS 3 AC Line Filter 5 Connector
195-264V ac RMS L2 or 324-528V ac RMS L2' Note 3 L2
4 4 6
or 324-528V ac RMS L1 Note 1 L1' L1
Note 1
To IPD connector,
IAM_2
Auxiliary Power 1
L1
Single-Phase (APL) Input 2
93-121V ac RMS L2/N 1
IO_PWR2
or 196-253V ac RMS 2 To BC connector, IAM_2
(This connector is present IO_COM2
only on the 2094-XL75S-Cx) 3
24V dc (P1L) Output IO_PWR2
Note 1 4
IO_COM2
5
IO_PWR2
6
IO_COM2 Motor Brake
Connections
6 BR-
MBRK -
5 BR+
MBRK +
4
COM
Motor/Resistive 3
Brake (BC) Connector PWR
2 BR-
1, 3, 5 DBRK -
IO_PWR1
1 BR+
DBRK +
I/O (IOL) STOP *
Connector Resistive Brake
7 Connections
Note 11, 12 COIL_E1
2, 4, 6 1
IO_COM1 CONT EN- Contactor Enable
8 2 (CED) Connector
COIL_E2 CONT EN+
Note 12

To CED connector, IAM_2

Kinetix 6000
(IAM_2)
Power Rail Note 9

Bonded Cabinet Ground Stud
Cable Shield
Ground Bus*
Clamp
4
Three-Phase
3 Motor Power
Motor Power W
(MP) Connector 2 Connections
V Note 14
1
1 U
CTRL 2 Control Power
From CPL connector, LIM 2 (CPD) Connector
CTRL 1
1
DC-
2 DC Bus
DC+ and
3
3-Phase
Three-Phase 4 Input (IPD)
L3
From OPL connector, LIM AC Line Filter 5 Connector
Note 3 L2
6
L1
6 BR-
MBRK - Motor Brake
5 BR+ Connections
MBRK +
4
COM
Motor/Resistive 3 From P1L connector, LIM
2 BR-
DBRK - Resistive Brake
1 BR+
DBRK + Connections
1
From IOL connector, LIM CONT EN- Contactor Enable
2 (CED) Connector
and CED connector, IAM_1 CONT EN+
Note 12

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

ATTENTION
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)
Kinetix 6000
Bonded Cabinet Ground Bus * Power Rail

Ground Stud
Chassis Note 9
Cable Shield
1
Single-Phase Input CTRL 2 Control Power Clamp
95-264V ac RMS 2 (CPD) Connector
CTRL 1
Notes 1, 2 4
Input Fusing * Three-Phase
Isolation 3
Motor Power W Motor Power
Transformer * (MP) Connector 2 Connections
Notes 5, 6 V
1 Note 14
U
1 DC-
2 DC Bus
DC+
and
3
3-Phase
Three-Phase 4 6 BR-
Three-Phase Input L3 Input (IPD) MBRK - Motor Brake
195-264V ac RMS AC Line Filter 5 Connector 5
L2 BR+ Connections
or 324-528V ac RMS Note 3 MBRK +
6 4
Notes 1, 2 L1 COM User Supplied
Motor/Resistive
Input Fusing * M1 * 3 24V dc (1.2A maximum)
Notes 7, 8 2 BR-
1 BR+ Connections
DBRK +
Notes 7, 12 1
CONT EN- Contactor Enable
2 (CED) Connector
CONT EN+
STOP * START * Note 12
24V ac/dc CR1 *
or
120V ac
50/60 Hz M1 * CR1 *
Ground Jumper
CR1 * Note 10
Refer to Attention statement (Note 11)

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

ATTENTION
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)
Kinetix 6000
Bonded Cabinet Ground Bus * Power Rail

Ground Stud
Chassis
1 Note 9
Single-Phase CTRL 2 Control Power
Single-Phase Input
AC Line Filter 2 Cable Shield
95-264V ac RMS CTRL 1 (CPD) Connector
Note 3 Clamp
Notes 1, 2
Input Fusing *
Isolation 4
Transformer * Three-Phase
3
Note 5 Motor Power W Motor Power
(MP) Connector 2 Connections
V
1 1 Note 14
DC- U
2 DC Bus
DC+
Note 4 3 and
3-Phase
Three-Phase Input Three-Phase 4 Input (IPD)
L3
195-264V ac RMS AC Line Filter 5 Connector 6
L2 BR-
or 324-528V ac RMS Note 3 MBRK - Motor Brake
6 5
Notes 1, 2 L1 BR+ Connections
MBRK +
Input Fusing * M1 * 4
Motor/Resistive COM User Supplied
Notes 7, 8 3
Brake (BC) Connector 24V dc (1.2A maximum)
PWR
2 BR-
1 BR+ Connections
Notes 7, 12 1 DBRK +
2 (CED) Connector
CONT EN+
STOP * START * Note 12
24V ac/dc CR1 *
or
120V ac
50/60 Hz M1 * CR1 * Ground Jumper
Note 10
CR1 *

A-8
Kinetix 6000
COMMON BUS FOLLOWER IAM
Bonded Cabinet 2094-ACxx-Mxx or -BCxx-Mxx
Ground Bus*
DC Common Bus
Kinetix 6000 Power Rail

Ground Stud Note 9
COMMON BUS LEADER IAM
2094-ACxx-Mxx or -BCxx-Mxx Cable Shield
Bonded Cabinet Clamp
Ground Bus*
Power Rail 1
Ground Stud Note 9 CTRL 2 Control Power

2 (CPD) Connector
Cable Shield CTRL 1 4

Three-Phase
Clamp 3
1 Motor Power W Motor Power
DC- (MP) Connector 2 Connections
Single-Phase Input 1 2 DC Bus V
CTRL 2 Control Power DC+ 1 Note 14
95-264V ac RMS 2 3 and U
(CPD) Connector
Notes 1, 2 CTRL 1 4 3-Phase
Three-Phase 4
3 N.C. L3 Input (IPD)
Motor Power 5
Figure A.5
1 Motor Power W N.C. Connector

DC- 2 Connections L2
2 DC Bus (MP) Connector 6 6
V Note 14 N.C. L1 MBRK -
DC+ and 1
3 U 5
3-Phase MBRK +
Three-Phase Input from LIM 4 Input (IPD) 4
L3 COM
or input power contactor (M1) 5 Connector Motor/Resistive
195-264V ac RMS L2 3
6 6 Brake (BC) Connector PWR
or 324-528V ac RMS L1 MBRK - 2
Notes 1, 2, 7, 8 5 DBRK -
MBRK + 1
4 DBRK +
COM
Motor/Resistive 3 1
Brake (BC) Connector PWR CONT EN- Contactor Enable
2 2 (CED) Connector
DBRK - CONT EN+
1 Note 12
DBRK +
1
CONT EN- Contactor Enable * INDICATES USER SUPPLIED COMPONENT
2 (CED) Connector
CONT EN+
Note 12
Wire the Leader and Follower IAM

contactor enable terminals in series
with the safety control string or LIM I/O.
Leader IAM with Single Follower IAM Power Interconnect Diagram
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.
Three-Phase Input (+10/-15%)
380V ac RMS, 50 Hz
or 460V ac RMS, 60 Hz
Notes 1, 2
Kinetix 6000
Input Fusing *
Bonded Cabinet Bonded Cabinet 2094-BCxx-Mxx
Ground Bus* Ground Bus*
Three-Phase 8720MC Power Rail

AC Line Filter REGENERATIVE Ground Stud Note 9
Note 3 POWER SUPPLY Cable Shield
Harmonic Clamp
Filter
8720MC-RPSxxx
E/N
R S T Single-Phase Input 1
TB1 CTRL 2 Control Power
G 95-264V ac RMS 2 (CPD) Connector
Notes 1, 2 CTRL 1 4
R Three-Phase
L1 TB1 Motor Power 3 Motor Power
S N 1 W
L2 DC- DC- (MP) Connector 2 Connections
T P 2 DC Bus V Note 14
L3 DC+ DC+ 1
3 and U
M1 * Line 3-Phase
Varistor Note 7 Reactors 4 Input (IPD)
N.C. L3
5 Connector
N.C. L2
Motor Fan Fusing* 6
N.C. L1
Figure A.6
To Motor Fan TB3

1
COM +24V_PWR
TB2 2 I/O (IOD)
R1 RDY ENABLE
L1 AUX 3 +24V_COM Connector
S1 Motion Control I/O
L2 AUX
T1
L3 AUX
PR1 1 Contactor Enable
CONT EN-
PR2 2 (CED) Connector
CONT EN+
Note 12
PR3
Customer
MC1 +24V dc 6
supplied MBRK -
120V ac MC MC2 PWR 5
MBRK +
4
Motor/Resistive COM
3
2
DBRK -
Note 12 Start * 1
Stop * DBRK +
CR1*
Kinetix 6000 (460V) Follower IAM are shown.

CR1*
IMPORTANT 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
Non-Kinetix 6000 Leader Drive with Single Follower IAM Power Diagram
to prevent the drive from applying DC bus power without the user’s input after clearing a drive fault.
In the figure below, the 8720MC-RPS regenerative power supply and

A-9
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
To Follower
DC Bus Connections
To Follower
Control Power
Connections
Kinetix 6000
COMMON BUS LEADER IAM
Bonded Cabinet
Ground Bus *
Power Rail
Ground Stud Note 9
Cable Shield
Clamp
Single-Phase Input 1
95-264V ac RMS 2 (CPD) Connector
Notes 1, 2 CTRL 1 4
Note 4 Three-Phase
3
DC- 2
2 (MP) Connector V Connections
DC+ DC Bus 1 Note 14
3 and U
4 3-Phase
Three-Phase Input from LIM L3 Input (IPD)
or input power contactor (M1) 5 Connector
195-264V ac RMS L2
6 6
or 324-528V ac RMS L1 MBRK -
Notes 1, 2, 7, 8 5
MBRK +
4
COM
Motor/Resistive 3
2
DBRK -
1
DBRK +
1
2 (CED) Connector
CONT EN+
Note 12
To Follower
Control Circuit
Connections

Kinetix 6000
Bonded Cabinet
Ground Bus *
Power Rail
Ground Stud Note 9
Cable Shield
Clamp
Note 4
From Leader 1
Control Power 2 (CPD) Connector
Connections CTRL 1 4
Note 4 Three-Phase
3
From Leader 1 Motor Power W Motor Power
DC- (MP) Connector 2 Connections
DC Bus Connections 2 DC Bus V
DC+ 1 Note 14
3 and U
DC Bus Fusing * 4 3-Phase
Note 2 N.C. L3 Input (IPD)
5 Connector
N.C. L2
6 6
N.C. L1 MBRK -
5
MBRK +
4
COM
Motor/Resistive 3
2
DBRK -
1
DBRK +
1 Contactor Enable
CONT EN-
2 (CED) Connector
CONT EN+
Note 12
Kinetix 6000
Bonded Cabinet
Ground Bus *
Power Rail
Ground Stud Note 9
Cable Shield
Clamp
1
2 (CPD) Connector
CTRL 1 4
3 Three-Phase
DC- 2
2 (MP) Connector V Connections
DC+ DC Bus 1 Note 14
3 and U
DC Bus Fusing * 4 3-Phase
Note 2 N.C. L3 Input (IPD)
5 Connector
N.C. L2
6 6
N.C. L1 MBRK -
5
MBRK +
4
COM
Motor/Resistive 3
2
DBRK -
1
DBRK +
From Leader
Control Circuit 1
Connections 2 (CED) Connector
CONT EN+
Note 12

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
Kinetix 6000
Bonded Cabinet 2094-ACxx-Mxx or -BCxx-Mxx
Ground Bus*
Power Rail
Non-Kinetix 6000 Ground Stud Note 9
COMMON BUS LEADER Cable Shield
Bonded Cabinet Clamp
Ground Bus*
Ground Stud Single-Phase Input 1
95-264V ac RMS 2
CTRL 1 (CPD) Connector
Notes 1, 2 4
Three-Phase
3
DC Bus DC- Pre-charge DC- DC Bus (MP) Connector 2 Connections
Circuitry* 2 Connections V
Connections DC+ DC+ 1 Note 14
3 U
DC Bus Fusing* 4 Ground
N.C. L3 3-Phase
5
N.C. L2 Input (IPD)
6 Connector 6
N.C. L1 MBRK -
5
MBRK +
Three-Phase Input L3 4
COM
from LIM or input L2 Motor/Resistive 3
power contactor (M1) Brake (BC) Connector PWR
Notes 1, 2, 7, 8 L1 2
DBRK -
1
DBRK +
1
2 (CED) Connector
CONT EN+
Note 12
DRIVE OK-
Contactor Enable * INDICATES USER -SUPPLIED COMPONENT
DRIVE OK+


Shunt Module Interconnect In the figure below, the Kinetix 6000 Shunt Module is shown wired for
internal shunt operation. This is the factory default jumper setting.
Diagrams
Figure A.9
Internal Shunt Module Interconnect Diagram
Kinetix 6000
SHUNT MODULE
2094-BSP2
3
External Shunt Resistor COL
2
(RC) Connector INT
1
DC+
2
External Thermal Switch TS2 1
(TS) Connector TS1
In the figure below, the Kinetix 6000 shunt module is shown wired
with an external passive shunt resistor.
IMPORTANT Only passive shunts with a thermal switch are wired

to the TS connector on the Kinetix 6000 shunt
module. If your external passive shunt does not have
a thermal switch, leave the factory installed jumper
in place on the TS connector.
Figure A.10
External Passive Shunt Module Interconnect Diagram
Kinetix 6000 EXTERNAL PASSIVE

SHUNT MODULE SHUNT RESISTOR
2094-BSP2
3
External Shunt Resistor COL COL
2
(RC) Connector INT Resistor
1 DC+
DC+
External Thermal Switch TS2 2 Thermal

(TS) Connector 1 Switch
TS1

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
Kinetix 6000 EXTERNAL ACTIVE SHUNT

INTEGRATED AXIS MODULE RESISTOR (1336-MOD-Kxxxx)
2094-xCxx-Mxx
1 (+) Slave In
2 (–) Slave In
3 (–) Master Out
4 TB1
(+) Master Out
DC Bus DC- 1 5
(–) DC Bus
Connections 2 6
DC+ (+) DC Bus
3 Input Fusing*
Note 19
Three-Phase L3 4 1
Single-Phase Input
Input (IPD) 5 115V ac RMS 2
L2
Connections 6 50/60 Hz TB3
L1 3
4 Fault Relay Note 20
Shunt chassis 1336 Master
ground screw
Contactor Enable 1
CONT EN- Refer to Attention statement (Note 11)
(CED) Connector 2
CONT EN+ CR1*
Note 12
CR1*
M1* 24V ac/dc
or
CR1* 120V ac
50/60 Hz
* INDICATES USER SUPPLIED COMPONENT START* STOP*
Notes 7, 12
1336 Active Shunt Input Fuse Specifications
Active Shunt Module Description Input Current

1336- Requirements
Kx005 or Kx010 Input current requirement to power logic for fault 0.05A
contact operation.
Input current requirement to power fan and logic for
KB050 fault contact operation. 0.65A
1336 Active Shunt Fault Relay Specifications
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

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
Kinetix 6000 EXTERNAL ACTIVE SHUNT

INTEGRATED AXIS MODULE RESISTOR (1336-MOD-Kxxxx)
2094-xCxx-Mxx
1
(+) Slave In
2
(–) Slave In
3
(–) Master Out
4
(+) Master Out
Note 4
DC Bus DC- 1 5
(–) DC Bus
Connections 2 6 TB1
DC+ (+) DC Bus
3
Three-Phase 4 1
L3 TB3
Input (IPD) 5 2
Connections L2
6 3
L1
Fault Relay Note 20
4
Shunt chassis 1336 Master
ground screw
1
Contactor Enable CONT EN- EXTERNAL ACTIVE SHUNT
(CED) Connector 2
CONT EN+ RESISTOR (1336-MOD-Kxxxx)
Note 12
1
(+) Slave In
Notes 7, 12 2
(–) Slave In
3
STOP* START* (–) Master Out
24V ac/dc CR1* 4
or (+) Master Out
120V ac 5
M1* (–) DC Bus
50/60 Hz CR1* TB1
CR1* 6
(+) DC Bus
Note 4
1
TB3
2
3
Fault Relay Note 20
4
Shunt chassis 1336 Slave
ground screw
EXTERNAL ACTIVE SHUNT

RESISTOR (1336-MOD-Kxxxx)
1
(+) Slave In
2
(–) Slave In
3
(–) Master Out
4
(+) Master Out
5
(–) DC Bus
6 TB1
(+) DC Bus
Single-Phase Input 1
115V ac RMS TB3
2
50/60 Hz
Note 4 3
Input Fusing* Fault Relay Note 20
Note 19 4
Shunt chassis 1336 Slave
ground screw

AM/Motor Interconnect This section contains the motor power, brake, and feedback signal
interconnect diagrams between an Axis Module and MP-Series,
Diagrams 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
Kinetix 6000 MPL-B and MPG-B (460V)

IAM (inverter) or AM SERVO MOTORS WITH
Note 13 HIGH RESOLUTION FEEDBACK
Cable Shield
0 Clamp
Note 9
1
4 Green/Yellow D Motor Feedback
2
3 1/Blue C W (MF) Connector
3 Motor Power W GND
(IAM/AM)
4 (MP) Connector 2 2/Black B V
V Three-Phase
5 1 3/Brown A U Motor Power A BLACK SIN+ 1
6 Motor Feedback U WHT/BLACK SIN- 2
2090-XXNPMP-xxSxx
B
7 (MF) Connector COS+
Motor Power Cable C RED 3
8 Note 14
D WHT/RED COS- 4
9
10 Motor Feedback E GREEN DATA+ 5
11 Motor/Resistive 2090-UXNBMP-18Sxx Brake Cable F WHT/GREEN DATA- 10
12 Brake (BC) Connector Note 14
14
K GRAY +5VDC
13 6 Black C BR- L WHT/GRAY ECOM 6
MBRK -
14 5 White A Motor Brake N +9VDC 7
MBRK + BR+ ORANGE
15 R WHT/ORANGE TS+ 11
4
COM User Supplied Thermostat
3 24V dc (1.2A max.) S Refer to Low Profile Connector
PWR illustration (lower left)
2 BR- for proper grounding technique.
DBRK - Resistive Brake P
1 BR+ Connections
DBRK +
2090-XXNFMP-Sxx
(flying-lead) Feedback Cable
Notes 14, 15, 17
MPL-B (460V) SERVO MOTORS

WITH RESOLVER FEEDBACK
Motor Feedback
(MF) Connector
D (IAM/AM)
Grounding Technique for C W GND
Feedback Cable Shield A BLACK S2 1
Low Profile Connector B V
Three-Phase B WHT/BLACK S4 2
(2090-K6CK-D15M shown) A U Motor Power C RED S1 3
D WHT/RED S3 4
Motor Feedback G YELLOW R1 5
H WHT/YELLOW R2 10
Clamp R BLUE TS+ 11
Exposed shield secured
under clamp.
Thermostat
S WHT/BLUE TS- 6
Clamp screws (2)
Turn clamp over to hold Refer to Low Profile Connector
small cables secure. C BR- illustration (lower left)
for proper grounding technique.
A Motor Brake
BR+
2090-CDNFDMP-Sxx
Notes 14, 15

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
Kinetix 6000 MPL-A and MPG-A (230V)

Cable Shield
Clamp
0 Note 9
1
4 Green/Yellow D
2
3 1/Blue C W Motor Feedback
3 Motor Power W GND
(MF) Connector
V Three-Phase (IAM/AM)
5 1 3/Brown A U Motor Power
6 U SIN+ 1
A BLACK
7 2090-XXNPMP-xxSxx
Motor Feedback Motor Power Cable B WHT/BLACK SIN- 2
8 (MF) Connector Note 14 COS+
C RED 3
9
D WHT/RED COS- 4
10
11 Motor/Resistive 2090-UXNBMP-18Sxx Brake Cable E GREEN DATA+ 5
Brake (BC) Connector Motor Feedback
12 Note 14 F WHT/GREEN DATA- 10
13 6 Black C BR- K GRAY +5VDC 14
MBRK -
14 5 White A Motor Brake L WHT/GRAY ECOM 6
MBRK + BR+
15 N ORANGE – 7
4
COM User Supplied R WHT/ORANGE TS+ 11
3 24V dc (1.2A max.)
PWR Thermostat
2 BR- S Refer to Low Profile Connector
DBRK - Resistive Brake illustration (lower left)
1 BR+ for proper grounding technique.
DBRK + Connections P
2090-XXNFMP-Sxx
Notes 14, 15
Motor Feedback
MPL-A (230V) SERVO MOTORS (MF) Connector
WITH INCREMENTAL FEEDBACK (IAM/AM)
D A BLACK AM+ 1
B WHT/BLACK AM- 2
Grounding Technique for C W GND
Feedback Cable Shield B V C RED BM+ 3
Low Profile Connector Three-Phase D WHT/RED BM- 4
(2090-K6CK-D15M shown) A U Motor Power
E GREEN IM+ 5
F WHT/GREEN IM- 10
Motor Feedback K GRAY +5VDC 14
L WHT/GRAY ECOM 6
Clamp N ORANGE – 7
Exposed shield secured R WHT/ORANGE TS+ 11
under clamp.
Thermostat
Clamp screws (2) S BLUE –
Turn clamp over to hold C BR- T WHT/BLUE S1 12
small cables secure.
Motor Brake U YELLOW S2 13
A BR+ V WHT/YELLOW S3 8
P
Refer to Low Profile Connector
illustration (lower left)
2090-XXNFMP-Sxx
Notes 14, 15

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
Kinetix 6000 MPF-A or MPS-A (230V)

Note 13 HIGH RESOLUTION FEEDBACK Motor Feedback
(MF) Connector
Cable Shield
(IAM/AM)
Clamp
0 Shield
1 1
Note 9 BLACK SIN+
1
4 Green/Yellow D/ 2 WHT/BLACK SIN- 2
2
3 3 Blue C/W W GND 3 RED COS+ 3
Motor Power W
4 2 Black B/V V Three-Phase 4 WHT/RED COS- 4
(MP) Connector V
5 1 Brown A/U U Motor Power 5 GREEN DATA+ 5
6 U 6 WHT/GREEN DATA- 10
7 2090-XXNPMF-xxSxx
Motor Feedback Motor Power Cable Motor 9 GRAY +5VDC 14
8 (MF) Connector Note 14 Feedback 10 WHT/GRAY ECOM 6
9
10 11 ORANGE –
11 Motor/Resistive 13 WHT/ORANGE TS+ 11
Brake (BC) Connector Thermostat
12 BLUE
13 6 Black G/- BR- 14 TS-
MBRK -
14 5 White F/+ BR+
15 MBRK + 12 COM
4 Motor Brake Refer to Low Profile Connector
COM User Supplied Note 18 illustration (lower left)
3 24V dc (1.2A max.) for proper grounding technique.
PWR
2 BR-
2090-XXNFMF-Sxx
1 (flying-lead) Feedback Cable
BR+ Connections
DBRK + Notes 14, 15
MPF-B or MPS-B (460V)

SERVO MOTORS WITH
HIGH RESOLUTION FEEDBACK
Motor Feedback
(MF) Connector
(IAM/AM)
1 BLACK SIN+ 1
D/ 2 WHT/BLACK SIN- 2
Grounding Technique for
C/W W GND 3 RED COS+ 3
Feedback Cable Shield
Low Profile Connector B/V V 4 WHT/RED COS- 4
(2090-K6CK-D15M shown) Three-Phase
A/U U Motor Power 5 GREEN DATA+ 5
6 WHT/GREEN DATA- 10
Motor 9 GRAY –
Feedback 10 WHT/GRAY ECOM 6
Clamp 11 ORANGE +9VDC 7
Exposed shield secured 13 WHT/ORANGE TS+ 11
under clamp. Thermostat
Clamp screws (2) G/- BR- 14 BLUE TS-
Turn clamp over to hold
small cables secure. F/+ BR+
12 COM
Motor Brake
Note 18
illustration (lower left)
2090-XXNFMF-Sxx
Notes 14, 15

connected to TL-Series (230V) servo motors.
Figure A.16
Axis Module to TL-Series (230V) Motor Interconnect Diagram
Kinetix 6000 TL-Series (230V) MOTORS

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

connected to 1326AB-Bxxxx (460V) servo motors.
Figure A.17
Axis Module to 1326AB Motor Interconnect Diagram
Kinetix 6000 1326AB (M2L/S2L)

Cable Shield
0 Clamp
Note 9
1
4 Green/Yellow D Motor Feedback
2
3 1/Blue W (MF) Connector
3 Motor Power W C GND (IAM/AM)
V Three-Phase
5 1 3/Brown A U A BLACK SIN+ 1
6 U Motor Power WHT/BLACK 2
B SIN-
2090-XXNPMP-xxSxx
7 Motor Feedback COS+ 3
Motor Power Cable C RED
8 (MF) Connector Note 14 WHT/RED COS-
D 4
9
10 Motor Feedback E GREEN DATA+ 5
11 Motor/Resistive 2090-UXNBMP-18Sxx Brake Cable F WHT/GREEN DATA- 10
12 Brake (BC) Connector Note 14
K – 14
GRAY
13 6 Black C BR- L WHT/GRAY ECOM 6
MBRK -
14 5 White A BR+ Motor Brake N ORANGE +9VDC– 7
15 MBRK +
4 R WHT/ORANGE TS+ 11
COM User Supplied Thermostat
3 24V dc (1.2A max.) S
PWR
2 BR- Refer to the
DBRK - Resistive Brake P Kinetix 6000 Installation Manual
1 BR+ Connections (publication 2094-IN001) for proper
DBRK +
2090-XXNFMP-Sxx
Note 14, 15
Kinetix 6000 1326AB SERVO MOTORS

IAM (inverter) or AM WITH RESOLVER FEEDBACK
Note 13 1326-CPx1-xxx Motor Power Cable
Note 14
Cable Shield
Clamp Green/Yellow 8
0 Note 9
1 4 Braided Shield 7
2 3 Black 3 T3 GND
Motor Power W
3 2 Black 2 T2
4 (MP) Connector V Three-Phase
1 Black 1 T1 Motor Power
5 Motor Feedback U Motor Feedback
6 (MF) Connector (MF) Connector
7 (IAM/AM)
8 6 Black 6 B1
MBRK - G GREEN S2 1
9 5 4 B2 Motor Brake
Black H BLACK 2
10 MBRK + S4
11 4 D BLACK S1 3
COM User Supplied
12 3 E RED S3 4
13 PWR 24V dc (1.2A max.) Motor Feedback
2 A BLACK R1 5
14 BR-
DBRK - Resistive Brake B WHITE R2 10
15 1 BR+
DBRK + Connections
5 K1 1326-CCU-xxx
Motor/Resistive 1 Note 14
9 K2 Thermostat TS+ 16
Brake (BC) Connector TS- 17
S
Shielded Cable
1
Wiring the thermal switch on 1326AB (resolver-based) motors requires the use of the Low Profile connector kit
(2090-K6CK-D15MF) and wire extension to the power connector. Pins 16, 17, and S are filtered to prevent noise
transmission back to the drive. Refer to the Kinetix 6000 Installation Manual (publication 2094-IN001) for wiring
instructions and a diagram.

connected to H- and F-Series (230V) servo motors.
Figure A.18
Axis Module to H/F-Series Motor Interconnect Diagram
Kinetix 6000 H/F-Series (230V)

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

Low Profile Connector
(2090-K6CK-D15M shown)
Clamp
under clamp.
Clamp screws (2)

connected to N-Series (230V) servo motors.
Figure A.19
Axis Module to N-Series Motor Interconnect Diagram
Kinetix 6000 N-Series (230V)

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

Clamp
under clamp.
Clamp screws (2)

connected to Y-Series (230V) servo motors.
Figure A.20
Axis Module to Y-Series Motor Interconnect Diagram
Kinetix 6000 Y-Series (230V)

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

Clamp
Exposed shield and drain wire
secured under clamp.
Clamp screws (2)

Controlling a Brake 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
Example of 30V dc, and the relay current limit as shown in the table below.
Kinetix 6000 IAM/AM Maximum Brake Current Rating

2094-AC05-Mxx, -AC09-Mxx,
2094-AMP5, -AM01, -AM02
1.0A
2094-BC01-Mxx, -BC02-Mxx,
2094-BMP5, -BM01, -BM02
2094-AC16-Mxx, -AC32-Mxx,
2094-AM03, -AM05 1.3A
2094-BC04-Mxx, -BC07-Mxx, 3.0A

2094-BM03, -BM05
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
1
H-3007 and -3016 0.60A MPL-x420, -x430, -x4520, -x4530, -x4540
0.64A
H-4030, -4050, and -4075 0.69A MPF-x430, -x4530, -x4540 1
N-2302, and -2304 0.28A MPG-x004 1 0.33A
N-3406, -3412, -4214, and -4220 0.36A MPG-x010 1
0.45A
N-5630, -5637, and -5647 0.71A MPG-x025 1
Y-1002 and -1003 0.26A MPG-x050 1 0.50A
Y-2006 and -2012 0.31A MPG-x110 1 1.0A
Y-3023 0.37A
TL-A110P-H, -A120P-H, and -A130P-H 0.208A
TL-A220P-H and -A230P-H 0.375A 1326AB-B4xxx 0.88A
TL-A2530P-H and -A2540P-H 0.396A
TL-A410P-H 0.746A
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
1.05 to 1.28A
MPF-B540
H-6100, -6200, and -6300 1.13A
1326AB-B5xxx, and -B7xxx 1.20A
1Applies to 230V and 460V motors.
Coil Currents Rated > 1.3A and ≤3.0A Coil Currents Rated > 1.3A and ≤3.0A
MPL-B640, -B660, -B680, -B860, -B880,
H-8350 and -8500 2.20A 1.91 to 2.19A
-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
Kinetix 6000
IAM (inverter) or AM
Note 13
6
MBRK -
5 CR1
MBRK +
4
COM User Supplied
3 24V dc (3.0A max.)
PWR
2
DBRK -
1 BR-
DBRK +
CR1 BR+ Brake
Motor/Resistive 1 SERVO
Brake (BC) Connector Feedback MOTOR
Power
1
For Motor/Resistive Brake (BC) connector specifications, refer to the Kinetix 6000 Installation Manual (publication
2094-IN001).
To avoid damage to the brake contactor, surge

ATTENTION
suppression (flyback diode or MOV, rated at
appropriate voltage), must be used when controlling
a brake coil.

A-26
Motor/Resistive Brake Connections Three-Phase Motor Output
PWR U V W
System Block Diagrams
DBRK MBRK
Motor Shield

FUSE_OK
Figure A.22
DC+
Common Mode
Choke
(460V only)
Inverter Block Diagram
POWER
RAIL DC-
SYSOK
Inverter Section Shunt Circuit
CONV_ID (5)
CTRL 1 (460V only)
SMPS
GSHUNT (2)
+/-12V (Control)
CTRL 2
IAM/AM Inverter Block Diagram
CAN (2) +24V (Customer I/O)

+9V, +5V (Motor Feedback)
This section provides block diagrams of the Kinetix 6000 modules.
DC+
DCL1 DCL2
Common Bus
Three-Phase Power Connections DC-
AC Input DC+
L1
L1
CHASSIS
L2 DC Link
Gnd Flt CT
Inductor 3
L3 L2 DC-
Vcc
Ground Jumper 4 120K Shunt Circuit 2 Vsns
CONV_OT
Figure A.23
95C POWER
Chassis RAIL
CTRL-
DC+
DC-
Control Power CTRL+
Converter Block Diagram
AC Input
CTRL1
SYS_OK
CTRL2
EMC Filter1 GSHUNT
IAM Converter Block Diagram
Control Power
Loss Detector
DROK/
CONT_EN Rectifier Circuit 2
CONT_EN1
1
CONT_EN2 EMC filter present only on 460V converters.
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).

A-27
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 Option
Safe-Off (SO) Gate Control
9-pin Connector Power Supply
K1-C
8 +24V
9 +24V_COM
3 FDBK1+
4 FDBK1-
K1-A
7 ENABLE1+
K1 Gate Control
6 ENABLE- Safety Monitor
K2 uC Circuit (CCP)
5 ENABLE2+
K2-A
1 FDBK2+
2 FDBK2-
Motion Allowed Jumper K2-C

Gate Control
(2090-XNSS-MA) Enable Signal
Wiring Header +24V

DRIVE ENABLE M
(2090-XNSS-WP)
+24V_COM
SM Block Diagram
Figure A.25
Shunt Module Block Diagram
DC+
Internal
or External
Shunt
Resistor
POWER
RAIL DC-
SYSOK
Shunt Circuit
CTRL 1 SMPS
GSHUNT (2)
+5V (Control)
CTRL 2 +/-15V (IGBT)
24V (Control)
Chassis

Interface PCB
OPL
OPL
1 CONSTAT_12
1 Interface PCB
2 L3' CONSTAT_22
2
3 L2' CONSTAT_32
3 24V Status LED
4 L1' CONSTAT_54 IOL: STATUS I/O
4 IOL
COIL_A2 IOL Pin 1 IO_PWR1
OPL: VAC LOAD Pin 2 IO_COM1
1 1
Pin 1 PE N/C 2 2 Pin 3 IO_PWR1
COIL_E2
Pin 2 L3' 2 4 6 12 22 32 42 54 A2 E2 3 Pin 4 IO_COM1
COIL_E1
Pin 3 L2' E1 4 Pin 5 IO_PWR1
Pin 4 L1' CR1 100-JE 5 Pin 6 IO_COM1
CONSTAT_54
6 Pin 7 COIL_E1
1 3 5 11 21 31 41 53 A1 A1 CONSTAT_32
7 Pin 8 COIL_E2
IPL CONSTAT_22
IPL N/C 8
CB1 CONSTAT_12 Pin 9 ALRM_M
1 9
1 ALRM_COM Pin 10 SHIELD
10
2 L1 1 2 ALRM_B Pin 11 ALRM_B
2 11
COIL_E1 Pin 12 ALRM_COM
3 L2 3 4 12
3 CONSTAT_53 CONSTAT_53
13 Pin 13 CONSTAT_11
4 L3 5 6 CONSTAT_31 CONSTAT_31
15
Figure A.26
ALRM_B CONSTAT_11 CONSTAT_11 Pin 15 CONSTAT_21

1c B 16
IPL: VAC LINE ALRM_COM Pin 16 CONSTAT_22
M ALRM_M 17
Pin 1 PE AL ALRM_M Pin 17 CONSTAT_31
18
L3 COIL_E2 Pin 18 CONSTAT_32
Pin 2 140U ALRM_M 19
Pin 3 L2 20 Pin 19 CONSTAT_53
ALRM_COM 20
Pin 4 L1 ALRM_B 21 Pin 20 CONSTAT_54
21
Pin 21 SHIELD
LIM Block Diagrams
CB 2 P2L P2L P2L: AUXILIARY PWR OUTPUT

LF 1
FB1 11 12 Pin 4
L1 COIL_A2 4 AUX1_L2
LIM Block Diagram (2094-AL75S)
4
L1 1 2 Single Phase, 1-Stage 3 Pin 3 AUX1_L1
14
L2 Line Filter (230VAC) 2 3 Pin 2
1 2 AUX2_L2
L2 3 4 1
L1 1 3 L1' 2 Pin 1 AUX2_L1
3 4 CTRL1
L2 2 4 L2'
5 PE CTRL2 1
CPL CPL CPL: CONTROL PWR OUTPUT

AUX1_L2 and AUX2_L2
AUX1_L1 and AUX2_L1 2 2 Pin 2 CTRL 2
1 Pin 1 CTRL 1
LF 2 1
Three Phase, 1-Stage PS1

CB 3 P1L: BRAKE AND I/O OUTPUT
Line Filter (460VAC) P1L P1L
20A Power Supply 6
1 2 IO_PWR1 6 Pin 6 IO_COM2
L1 1 6 L1' L1 24+ IO_COM1 5 Pin 5 IO_PWR2
3 4 L2 2 7 L2' L2 24- 5
IO_PWR2 4 Pin 4 IO_COM2
L3 3 8 L3' 24+
IO_COM2 3 Pin 3 IO_PWR2

N 4 9 N' PE 24- 4
2 Pin 2
10 PE IO_COM2
1 3 Pin 1 IO_PWR2
2
1

A-29
A-30
Interface PCB
OPL
OPL
1 CONSTAT_12
1 Interface PCB
2 L3' CONSTAT_22
2
3 L2' CONSTAT_32 24V Status LED
3
4 L1' CONSTAT_54 IOL IOL: STATUS I/O
4
OPL: VAC LOAD 1 Pin 2 IO_COM1
1
N/C 2 2 Pin 3 IO_PWR1
Pin 1 PE COIL_E2
2 4 6 12 22 32 42 54 A2 E2 3 Pin 4 IO_COM1
Pin 2 L3' COIL_E1
E1 4 Pin 5 IO_PWR1
Pin 3 L2' CR1 100-JE 5 Pin 6 IO_COM1
Pin 4 L1' CONSTAT_54

6 Pin 7 COIL_E1
1 3 5 11 21 31 41 53 A1 A1 CONSTAT_32
7 Pin 8 COIL_E2
IPL CONSTAT_22

IPL N/C 8
1 9
10
11
2 COIL_E1 Pin 12
L2 3 4 12 ALRM_COM
3 13 Pin 13 CONSTAT_11
15 Pin 15
Figure A.27
B ALRM_B CONSTAT_11 CONSTAT_11 CONSTAT_21

ALRM_COM 1c 16
IPL: VAC LINE Pin 16 CONSTAT_22
M ALRM_M 17
AL ALRM_M Pin 17 CONSTAT_31
Pin 1 PE 18
COIL_E2 Pin 18 CONSTAT_32
Pin 2 L3 140U ALRM_M 19
Pin 3 L2 ALRM_COM
Pin 4 L1 ALRM_B 21
21
Pin 21 SHIELD
CB 2 P2L P2L P2L: AUXILIARY PWR OUTPUT

L3 LF 1
FB1 11 12 Pin 4
L1 TX1 COIL_A2 4 4 AUX1_L2
LIM Block Diagram (2094-BL75S)
L1 1 2 Single Phase, 1-Stage 3 Pin 3 AUX1_L1

14
L2 Line Filter (230VAC) 2 3 Pin 2
1 2 AUX2_L2
L2 3 4 1
L1 1 3 L1' 2 Pin 1 AUX2_L1
3 4 CTRL1
L2 2 4 L2'
460V :: 230V 5 PE CTRL2 1
750VA

AUX1_L2 and AUX2_L2
2 2 Pin 2 CTRL 2
AUX1_L1 and AUX2_L1 1 Pin 1 CTRL 1
LF 2 1

20A Power Supply 6
3 4 L2 2 7 L2' L2 24- 5
L3 3 8 L3' L3 24+
5 6 IO_COM2 3 Pin 3 IO_PWR2
N 4 9 N' PE 24- 4
2 Pin 2
10 PE IO_COM2
1 3 Pin 1 IO_PWR2
2
1
Interface PCB
OPL
OPL
1 CONSTAT_12
1 Interface PCB
2 L3' CONSTAT_22
2
3 L2' CONSTAT_32 24V Status LED
3
4 L1' CONSTAT_54 IOL IOL: STATUS I/O
4
OPL: VAC LOAD 1 Pin 2 IO_COM1
1
Pin 1 PE N/C 2 2 Pin 3 IO_PWR1
COIL_E2
Pin 2 L3' 2 4 6 12 22 32 42 54 A2 E2 3 Pin 4 IO_COM1
COIL_E1
E1 4 Pin 5 IO_PWR1
Pin 3 L2'
CR1 100-JE 5 Pin 6 IO_COM1
Pin 4 L1' CONSTAT_54
6 Pin 7 COIL_E1
1 3 5 11 21 31 41 53 A1 A1 CONSTAT_32
7 Pin 8 COIL_E2
IPL CONSTAT_22
IPL N/C 8
1 9
10
11
2 COIL_E1 Pin 12
L2 3 4 12 ALRM_COM
3 13 Pin 13 CONSTAT_11
15
Figure A.28
ALRM_B CONSTAT_11 CONSTAT_11 Pin 15 CONSTAT_21

1c B 16
IPL: VAC LINE ALRM_COM Pin 16 CONSTAT_22
M ALRM_M 17
PE AL ALRM_M Pin 17 CONSTAT_31
Pin 1 18
COIL_E2 Pin 18 CONSTAT_32
Pin 2 L3 140U ALRM_M 19
Pin 3 L2 ALRM_COM 20 Pin 20 CONSTAT_54
Pin 4 L1 ALRM_B 21
21
Pin 21 SHIELD
APL FB1 CB 2 P2L P2L P2L: AUXILIARY PWR OUTPUT

APL L1 LF 1
2 1 2 11 12 COIL_A2 4 Pin 4 AUX1_L2
2 L1 4
Single Phase, 1-Stage 3 Pin 3 AUX1_L1
1 L2/N 14
3 4 Line Filter (230VAC) 2 3
LIM Block Diagram (2094-XL75S-Cx)
1 L2/N 1 2 Pin 2 AUX2_L2

3 1 Pin 1 AUX2_L1
L1 1 L1' 2
3 4 CTRL1
L2 2 4 L2'
APL: AUXILIARY PWR INPUT 5 PE CTRL2 1
Pin 2 L2/N
Pin 1 L1
AUX1_L2 and AUX2_L2
2 2 Pin 2 CTRL 2
AUX1_L1 and AUX2_L1 1 Pin 1 CTRL 1
LF 2 1

20A Power Supply 6
3 4 L2 2 7 L2' L2 24- 5
L3 3 8 L3' 24+
5 6 IO_COM2 3 Pin 3 IO_PWR2

N 4 9 N' PE 24- 4
2 Pin 2
10 PE IO_COM2
1 3 Pin 1 IO_PWR2
2
1

A-31
OPL: VAC LOAD OUTPUT CONSTAT_12
A-32
Pin 4 PE
CONSTAT_22
Pin 3 L3'
OPL Pin 2 L2' CONSTAT_32 24V Status LEDs
Pin 1 L1'
4
CONSTAT_42
L3_OUT
3
L2_OUT COIL_A2
2
L1_OUT
1
2 4 6 12 22 32 42 A2
IOL: STATUS I/O
D1 Pin 1 N/C
CR1
IPL: VAC LINE INPUT Pin 2 N/C
Pin 1 PE Pin 3 N/C
5 31 Pin 4 COIL_A2
Pin 2 L3 1 3 11 21 41 A1
Pin 5 N/C
Pin 3 L2
IOL Pin 6 CONSTAT_12
Pin 4 L1 COIL_A1
Pin 7 CONSTAT_22

CONSTAT_42 Pin 8
CONSTAT_41 CONSTAT_32
Three Phase, 1-Stage CONSTAT_41
Pin 9 CONSTAT_42
Line Filter (460VAC) CONSTAT_32
9
IPL 18
Pin 10 N/C
L1_IN 1 2 CONSTAT_31 CONSTAT_31
26
4 L1 L1' Pin 11 N/C
CONSTAT_22
L2_IN 3 4 CONSTAT_21 Pin 12 N/C
3 CONSTAT_21
L2 L2' Pin 13 COIL_A1
CONSTAT_12
2 5 6 Pin 14
Figure A.29
L3_IN CONSTAT_11 CONSTAT_11 N/C

L3 L3'
1 Pin 15 CONSTAT_11
Pin 16 CONSTAT_21
CB1 PE COIL_A2 Pin 17 CONSTAT_31
1
COIL_A1
19
10
LF1 Pin 18 CONSTAT_41

IO_PWR Pin 19 N/C
IO_COM Pin 20 IO_COM
CB2_AUX
Pin 21 IO_COM
1 2 Pin 22 IO_COM
Pin 23 N/C
Pin 24 IO_PWR
LIM Block Diagram (2094-AL09)
Pin 25 IO_PWR
Pin 26 IO_PWR
Single-Phase, 1-Stage
Line Filter (230VAC)
1 2
IO_PWR
L1 L1' L1 24+
3 4 6A Power Supply IO_COM
L2 L2' L2 24-
PE PSL
PE
CB3 1 PSL: I/O 24V DC OUTPUT
PS2
LF2
2 Pin 1 MBRK_PWR
MBRK_PWR Pin 2 MBRK_COM
L1 24+ 3 Pin 3 MBRK_PWR
2A Power Supply MBRK_COM Pin 4 MBRK_COM
L2 24- 4
PE
PS1
CPL
CPL: CONTROL POWER
1 2 L2/N
1 Pin 1 L2/N
3 4 L1 Pin 2 L1
2
CB2
OPL: VAC LOAD OUTPUT CONSTAT_12
Pin 1 PE
CONSTAT_22
Pin 2 L3'
OPL Pin 3 L2' CONSTAT_32 24V Status LEDs
Pin 4 L1'
1
CONSTAT_42
L3_OUT
2
L2_OUT COIL_A2
3
L1_OUT
4
2 4 6 12 22 32 42 A2
IOL: STATUS I/O
CR1 D1 Pin 1 N/C
IPL: VAC LINE INPUT 100S-C85 Pin 2 N/C
Pin 4 PE Pin 3 N/C
5 31 Pin 4 COIL_A2
Pin 3 L3 1 3 11 21 41 A1
Pin 5 N/C
Pin 2 L2
IOL Pin 6 CONSTAT_12
Pin 1 L1 COIL_A1
Pin 7 CONSTAT_22
CONSTAT_42 Pin 8
CONSTAT_41 CONSTAT_32
Three Phase, 1-Stage CONSTAT_41
Pin 9 CONSTAT_42
IPL Line Filter (460VAC) CONSTAT_32
9
18
1 2 Pin 10 N/C
26
L1_IN CONSTAT_31 CONSTAT_31

1 L1 L1' Pin 11 N/C
CONSTAT_22
L2_IN 3 4 CONSTAT_21 Pin 12 N/C
2 CONSTAT_21
L2 L2' Pin 13 COIL_A1
CONSTAT_12
3 5 6 Pin 14
Figure A.30
L3_IN CONSTAT_11 CONSTAT_11 N/C

L3 L3'
4 Pin 15 CONSTAT_11
Pin 16 CONSTAT_21
CB1 PE COIL_A2 Pin 17 CONSTAT_31
1
COIL_A1
19
10
LF1 Pin 18 CONSTAT_41

IO_PWR Pin 19 N/C
IO_COM Pin 20 IO_COM
CB2_AUX
Pin 21 IO_COM
1 2 Pin 22 IO_COM
Pin 23 N/C
Pin 24 IO_PWR
LIM Block Diagram (2094-BL02)
Pin 25 IO_PWR
Pin 26 IO_PWR
Single-Phase, 1-Stage
Line Filter (230VAC)
1 2
IO_PWR
L1 L1' L1 24+
3 4 6A Power Supply IO_COM
L2 L2' L2 24-
460V to 230V PE PSL
750VA XFMR PE
CB3 1 PSL: I/O 24V DC OUTPUT
PS2
TX1 LF2
2 Pin 1 MBRK_PWR
MBRK_PWR Pin 2 MBRK_COM
L1 24+ 3 Pin 3 MBRK_PWR
2A Power Supply MBRK_COM Pin 4 MBRK_COM
L2 24- 4
PE
PS1
CPL
CPL: CONTROL POWER
1 2 L2/N
1 Pin 1 L2/N
3 4 L1 Pin 2 L1
2
CB2

A-33
A-34
Drive Connections RBM Enclosure Motor Connections

(TB1) Connector (TB2) Connector
CR1
GROUND 4 4 GROUND
3 1 2
W DRIVE 3 W MTR
3 4

V DRIVE 2 2 V MTR
1 5 6
U DRIVE 1 U MTR
W BRAKE 11 12
V BRAKE 21 22
Figure A.31
U BRAKE 31 32 Interface PCB

41 42
24V Status LED
A1 A2
I/O Connections
D1 (TB3) Connector
RBM Block Diagrams
R1 R2 R3 1 TS_21
2 TS_22
T1 (fault) 3 CONSTAT_41
RBM Block Diagram (2090-XB33-xx)
4 CONSTAT_42
5 SHIELD
T2 (warning)
6 COIL_A1
7 COIL_A2
8 SHIELD
Drive Connections RBM Enclosure Motor Connections
CR1
GROUND 4 4 GROUND
W DRIVE 3 1 2
3 W MTR
V DRIVE 2 3 4
2 V MTR
U DRIVE 1 5 6
1 U MTR
W BRAKE 11 12
V BRAKE 21 22
Figure A.32
U BRAKE 31 32 230V Status LED

41 42
24V Status LED
N/C 53 54 N/C
A1 A2
I/O Connections
DC Interface Module (TB3) Connector
E1
R1 R2 R3 A1 E2
1 TS_21
2 TS_22
T1 (fault) 3 CONSTAT_41
4
RBM Block Diagram (2090-XB120-xx)
CONSTAT_42
T2 (warning)
5 SHIELD
6 COIL_A1
7 COIL_A2
8 SHIELD
Interface PCB

A-35

Appendix B
Upgrade Your Kinetix 6000 Firmware
Chapter Objectives This appendix provides a procedure for upgrading the Kinetix 6000
firmware using DriveExplorer.
Upgrade Drive Firmware Upgrading axis module firmware using DriveExplorer (via the DPI
port) involves setting the Axes to Flash parameter, configuring a
Using DriveExplorer HyperTerminal session, and flashing the firmware.
Before You Begin
Before you begin this procedure, make sure you have the following:
Minimum Firmware
Description Catalog Numbers 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
1 Refer to DriveExplorer Getting Results Manual (publication 9306-GR001) for instructions.

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

DriveExplorer proceeds to read your system.

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.
Linear List Legend

N: P. x xxx
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
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.

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.
Firmware upgrade file, as provided by Rockwell

Automation Technical Support at (440) 646-5800.

6. Select Xmodem protocol.
7. Select Send. The flash upgrade operation begins and the

following window opens.
ATTENTION
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.
8. The flash operation completes and the following window opens.
9. Close the HyperTerminal session.
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.


Appendix C
Integrate Resistive Brake Modules

with Kinetix 6000 Drives
Chapter Objectives 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.
Before You Begin 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 The following precautions apply to resistive brake module installation
as shown in the interconnect diagrams. Be sure to read and
Precautions thoroughly understand them before proceeding.
ATTENTION
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.

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.
Resistive Brake Module This section provides interconnect diagrams to assist you in wiring a
Kinetix 6000 system which includes an RBM. The notes in the table
Interconnect Diagram below apply to the following example RBM interconnect diagrams.
Notes
ATTENTION The National Electrical Code and local electrical
codes take precedence over the values and
methods provided. Implementation of these
codes is the responsibility of the machine
builder.
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.

C-6
Kinetix 6000 Bulletin 2090

INTEGRATED AXIS MODULE RESISTIVE BRAKE MODULE
2094-ACxx-Mxx or -BCxx-Mxx 2090-XBxx-xx
Bonded Cabinet (Axis_0)
Ground Bus*
(RBM_0)
Power Rail Note 1 Note 1
Ground Stud Cable Shield
Cable Shield
Note 1 Clamp Clamp
LINE INTERFACE MODULE Drive Connections Motor Connections Motor Power
Clamp
(TB1) Connector (TB2) Connector Connections
2094-AL75S, -BL75S, or
-XL75S-C2 4 4 4 D
Resistive Brake Module
Motor Power 3 3 L1 3 C
Single-Phase Output 1 1 Control Power W W_DRIVE W_MTR W GND
CTRL 2 CTRL 2 (MP) Connector 2 2 L2 2 B
(CPL) Connector 2 2 (CPD) Connector V V_DRIVE V_MTR V
CTRL 1 CTRL 1 1 1 L3 1 A

U U_DRIVE U_MTR U M
1
DC- R3 AUX3
2 DC Bus 2090-XXNRB-14F0P7
DC+ RBM to Drive Interface Cable R2 AUX2 Refer to the Kinetix 6000
Three-Phase Output 1 3 and
1 Note 2 R1 AUX1 Installation Manual (publication
(OPL) Connector 3-Phase
2 2 4 2094-IN001) for motor power
L3 L3' L3 Input (IPD)
cable catalog numbers.
Figure C.1
3 3 5 Connector
L2 L2' L2 Note 2
4 4 6
L1 L1' L1
Three-Phase Input Auxiliary 230V ac

(IPL) Connector 1 Input (TB4) Connector
IO_PWR2 (2090-XB120-xx only)
2
Integrate Resistive Brake Modules with Kinetix 6000 Drives
IO_COM2 2
3 L2
24V dc Output IO_PWR2 B
4 1
(P1L) Connector 6 L1
IO_COM2 MBRK -
5 5
IO_PWR2
6 A MBRK + I/O Connections
IO_COM2 4 (TB3) Connector
COM
Motor/Resistive 3
1 PWR 8
AUX1_L1 Brake (BC) Connector SHIELD
B 2 7 T1
230V ac Output 2 DBRK - COIL_A2
AUX1_L2
(P2L) Connector 3 1 Note 4 6
AUX2_L1 DBRK + COIL_A1 K
C 5
AUX2_L2 4 SHIELD
BRKSTAT0 4 AUX4
CONSTAT_42
3
I/O (IOL) 2, 4, 6 1 Contactor Enable Note 3 CONSTAT_41
IO_COM1 CONT EN- BRKTMP0 2
Connector 8 2 (CED) Connector
COIL_E2 CONT EN+ TS_22
K IO_PWR1 1
1, 3, 5 TS_21
IO_PWR1
7 T2
COIL_E1
230V ac Auxiliary 1
L1
Input Power 2
L2/N IO_PWR1
(APL) Connector
D
Example RBM Interconnection Diagram (Category 2 Configuration per EN954-1)
The example diagram below shows Kinetix 6000 IAM, AM, and LIM
(2094-AL75S, -BL75S, and -XL75S) wired with the Bulletin 2090 RBM.
D

AXIS MODULE RESISTIVE BRAKE MODULE
2094-AMxx or -BMxx 2090-XBxx-xx
(Axis_1) (RBM_1)
Note 1 Note 1
Cable Shield Cable Shield
Note 1 Clamp Clamp
Latching
Cable Shield
ControlLogix Input Device Pushbutton * Drive Connections Motor Connections Motor Power
Clamp
1756-IB16 (TB1) Connector (TB2) Connector Connections
4 4 4 D
2 1
GND-0 IN-0 3 3 L1 3 C
4 3 Motor Power W W_DRIVE W_MTR W GND
GND-1 IN-1 BRKTMP0 (MP) Connector 2 2 L2 2 B
6 5 V V_DRIVE V_MTR V
GND-2 IN-2 BRKTMP1 1 1 L3 1 A
8 7 U U_DRIVE U_MTR U M
GND-3 IN-3 Note 3
10 9
GND-4 IN-4 R3 AUX3
12 11 2090-XXNRB-14F0P7 Refer to the Kinetix 6000
GND-5 IN-5 R2 AUX2
14 RBM to Drive Interface Cable Installation Manual (publication
13 R1 AUX1
GND-6 IN-6 Note 2 2094-IN001) for motor power
16 15
GND-7 IN-7 cable catalog numbers.
18 17
GND-8 IN-8 Note 2
20 19
GND-9 IN-9 BRKSTAT0
22 21
GND-10 IN-10 BRKSTAT1
24 23
GND-11 IN-11 Auxiliary 230V ac
26 25
GND-12 IN-12 Input (TB4) Connector
28 27 (2090-XB120-xx only)
GND-13 IN-13
30 29
GND-14 IN-14 2
32 31 L2
GND-15 IN-15 6
C 1
34 33 L1
GND-15 NOT USED MBRK -
36 35 5
NOT USED NOT USED MBRK + I/O Connections
4
COM (TB3) Connector
Motor/Resistive 3 A 8
IO_COM Brake (BC) Connector PWR SHIELD
2 7 T1
DBRK - COIL_A2
1 Note 4 6
DBRK + COIL_A1 K
5
SHIELD
* INDICATES USER SUPPLIED COMPONENT BRKSTAT1 4 AUX4
CONSTAT_42
3
Note 3 CONSTAT_41
BRKTMP1 2
TS_22
IO_PWR1 1
TS_21
T2

C-7
C-8

Bonded Cabinet (Axis_0)
Ground Bus*
(RBM_0)
Cable Shield
Note 1 Clamp Clamp
LINE INTERFACE MODULE Drive Connections Motor Connections Motor Power
Clamp
(TB1) Connector (TB2) Connector Connections
2094-AL09 and -BL02
4 4 4 D
Motor Power 3 3 L1 3 C
Single-Phase Output 2 1 W W_DRIVE W_MTR W GND
L1 CTRL 2 Control Power (MP) Connector 2 2 2
(CPL) Connector 1 2 L2 B
(CPD) Connector V V_DRIVE V_MTR V
L2 CTRL 1 1 1 L3 1 A

U U_DRIVE U_MTR U M
1
DC- 2090-XXNRB-14F0P7 R3 AUX3
2 DC Bus RBM to Drive Interface Cable R2 AUX2 Refer to the Kinetix 6000
DC+
Three-Phase Output 3 and Note 2 Installation Manual (publication
R1 AUX1
(OPL) Connector Three-Phase 2094-IN001) for motor power
4 cable catalog numbers.
L3 L3' L3 Input (IPD)
Figure C.2
5 Connector Note 2
L2 L2' L2
6
L1 L1' L1
Three-Phase Input Auxiliary 230V ac

(IPL) Connector 1 Input (TB4) Connector
MBRK_PWR (2090-XB120-xx only)
24V dc Output 2
MBRK_COM
(PSL) Connector 3 2
MBRK_PWR L2
4 A 1
MBRK_COM 6 L1
MBRK -
5
MBRK + I/O Connections
4
COM (TB3) Connector
Motor/Resistive 3
PWR 8
Brake (BC) Connector SHIELD
2 7 T1
DBRK - COIL_A2
1 Note 4 6
DBRK + COIL_A1 K
5
SHIELD
BRKSTAT0 4 AUX4
CONSTAT_42
3
I/O (IOL) 24-26 1 Contactor Enable Note 3 CONSTAT_41
IO_PWR CONT EN- BRKTMP0 2
Connector 20-22 2 (CED) Connector
IO_COM CONT EN+ TS_22
K IO_PWR 1
13 TS_21
COIL_A1
4 T2
COIL_A2
IO_PWR

(2094-AL09 and -BL02) wired with the Bulletin 2090 RBM.
B
The example diagram below shows Kinetix 6000 IAM, AM, and LIM
B

AXIS MODULE RESISTIVE BRAKE MODULE
2094-AMxx or -BMxx 2090-XBxx-xx
(Axis_1) (RBM_1)
Note 1 Note 1
Cable Shield Cable Shield
Note 1 Clamp Clamp
Latching
Cable Shield
ControlLogix Input Device Pushbutton * Drive Connections Motor Connections Motor Power
Clamp
1756-IB16 (TB1) Connector (TB2) Connector Connections
4 4 4 D
2 1
GND-0 IN-0 3 3 L1 3 C
4 3 Motor Power W W_DRIVE W_MTR W GND
GND-1 IN-1 BRKTMP0 (MP) Connector 2 2 L2 2 B
6 5 V V_DRIVE V_MTR V
GND-2 IN-2 BRKTMP1 1 1 L3 1 A
8 7 U U_DRIVE U_MTR U M
GND-3 IN-3 Note 3
10 9
GND-4 IN-4 R3 AUX3
12 11 2090-XXNRB-14F0P7 Refer to the Kinetix 6000
GND-5 IN-5 R2 AUX2
14 RBM to Drive Interface Cable Installation Manual (publication
13 R1 AUX1
GND-6 IN-6 Note 2 2094-IN001) for motor power
16 15
GND-7 IN-7 cable catalog numbers.
18 17
GND-8 IN-8 Note 2
20 19
GND-9 IN-9 BRKSTAT0
22 21
GND-10 IN-10 BRKSTAT1
24 23
GND-11 IN-11 Auxiliary 230V ac
26 25
GND-12 IN-12 Input (TB4) Connector
28 27 (2090-XB120-xx only)
GND-13 IN-13
30 29
GND-14 IN-14 2
32 31 L2
GND-15 IN-15 6 1
34 33 L1
GND-15 NOT USED MBRK -
36 35 5
NOT USED NOT USED MBRK + I/O Connections
4
COM (TB3) Connector
Motor/Resistive 3 A 8
IO_COM Brake (BC) Connector PWR SHIELD
2 7 T1
DBRK - COIL_A2
1 Note 4 6
DBRK + COIL_A1 K
5
SHIELD
* INDICATES USER SUPPLIED COMPONENT BRKSTAT1 4 AUX4
CONSTAT_42
3
Note 3 CONSTAT_41
BRKTMP1 2
TS_22
IO_PWR 1
TS_21
T2

C-9
C-10

Bonded Cabinet (Axis_0) (RBM_0)
Ground Bus*
Cable Shield
Note 1 Clamp Clamp
Kinetix 6000 Cable Shield Motor Power

Drive Connections Motor Connections Connections
LINE INTERFACE MODULE Clamp
2094-AL75S, -BL75S, or 4 4 4 D
Motor Power
-XL75S-C2 (MP) Connector 3 3 L1 3 C
1 1 W W_DRIVE W_MTR GND

CTRL 2 W
Single-Phase Output CTRL 1 Control Power 2 2 L2 2 B
(CPL) Connector 2 2 V V_DRIVE V_MTR V
CTRL 1 CTRL 2 (CPD) Connector 1 1 L3 1 A
U U_DRIVE U_MTR U M
1
2 DC Bus AUX2 Refer to the Kinetix 6000
DC+ RBM to Drive Interface Cable R2
1 Three-Phase Output 1 3 and Installation Manual (publication
Figure C.3
Note 2 R1 AUX1
2 2 4 Input (IPD)
L3 L3' L3 cable catalog numbers.
3 3 5 Connector Note 2
L2 L2' L2
4 4 6
L1 L1' L1
Auxiliary 230V ac
1 Input (TB4) Connector
Three-Phase Input IO_PWR2
(IPL) Connector 2 (2090-XB120-xx only)
IO_COM2
3 2
24V dc Output IO_PWR2 L2
(P1L) Connector 4 6 A 1
IO_COM2 L1
5 MBRK -
IO_PWR2 Motor/Resistive 5
6 Brake (BC) Connector MBRK + I/O Connections
IO_COM2 4 (TB3) Connector
COM
3 8
1 PWR SHIELD
AUX1_L1 2
2 A 7 T1
230V ac Output AUX1_L2 DBRK - COIL_A2
(P2L) Connector 3 1 Note 4 6
AUX2_L1 DBRK + COIL_A1 K
5
AUX2_L2 4 BRKSTAT0 SHIELD
4 AUX4
1
+24V_PWR E CONSTANT_42
IO_PWR1 I/O (IOD) 2 3
Connector ENABLE CONSTANT_41
BRKTMP0 2
Note 6 3 TS_22
+24V_COM
1, 3, 5 1 Note 3 IO_PWR1 1
I/O (IOL) IO_PWR1 CONT EN- TS_21
Connector 2, 4, 6 2 T2
IO_COM1 CONT EN+
7
K COIL_E1 Contactor Enable
8 (CED) Connector
COIL_E2
230V ac Auxiliary 1 * INDICATES USER SUPPLIED COMPONENT
L1
Input Power 2
(APL) Connector L2/N
B C D
The example diagram below shows Kinetix 6000 IAM and LIM

(2094-AL75S, -BL75S, and -XL75S) wired with the Bulletin 2090 RBM.
B C D E
ControlLogix Input Device IO_PWR1

1756-IB16
2 PWR
1 Light Curtain *
GND-0 IN-0
4 3 STOPSTAT
GND-0 IN-1 Out2 Out1 COM
6 5
GND-0 IN-2
8 7 COM
GND-0 IN-3
10 9
GND-1 IN-4 BRKTMP0
12 11
GND-1 IN-5
14 13
GND-1 IN-6 E-STOP *
16 15
GND-1 IN-7
18 17
GND-2 IN-8
20 19
GND-2 IN-9
22 21
GND-2 IN-10
24 23
GND-2 IN-11
26 25
GND-3 IN-12 Reset *
28 27
GND-3 IN-13 IO_PWR1 IO_PWR1
30 29
GND-3 IN-14
32 31
GND-3 IN-15
34 33
NOT USED NOT USED A1 S52 S11 S12 S21 S22 S33 S34 13 23 37 47 57
36 35
NOT USED NOT USED
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

C-11
C-12

Bonded Cabinet (Axis_0) (RBM_0)
Ground Bus*
Cable Shield
Note 1 Clamp Clamp
Kinetix 6000 Cable Shield Motor Power

Drive Connections Motor Connections
LINE INTERFACE MODULE Clamp Connections
2094-AL09 and -BL02 4 4 4 D
Motor Power

(MP) Connector 3 3 L1 3 C
2 1 W W_DRIVE W_MTR W GND
Single-Phase Output L1 CTRL 1 Control Power 2 2 L2 2 B
(CPL) Connector 1 2 V V_DRIVE V_MTR V
L2 CTRL 2 (CPD) Connector 1 1 L3 1 A
U U_DRIVE U_MTR U M
1
Figure C.4
2 DC Bus RBM to Drive Interface Cable R2 AUX2 Refer to the Kinetix 6000
DC+
Three-Phase Output 3 and Note 2 AUX1 Installation Manual (publication
R1
4
L3 L3' L3 Input (IPD) cable catalog numbers.
5 Connector Note 2
L2 L2' L2
6
L1 L1' L1
Auxiliary 230V ac
1 Input (TB4) Connector

Three-Phase Input MBRK_PWR
(IPL) Connector 2 (2090-XB120-xx only)
24V dc Output MBRK_COM 2
3 L2
(PSL) Connector MBRK_PWR
4 6 1
MBRK_COM L1
MBRK -
Motor/Resistive 5
Brake (BC) Connector MBRK + I/O Connections
4
COM (TB3) Connector
3 8
PWR SHIELD
2 7 T1
IO_PWR DBRK - COIL_A2
Contactor Enable 1 Note 4 6
(CED) Connector DBRK + COIL_A1 K
5
24-26 1 BRKSTAT0 SHIELD
I/O (IOL) IO_PWR CONT EN- 4 AUX4
20-22 2 1
Connector CONT EN+ +24V_PWR D CONSTANT_42
IO_COM I/O (IOD) 3
13 2 CONSTANT_41
K COIL_A1 Connector ENABLE BRKTMP0 2
4 Note 6 3 TS_22
COIL_A2 +24V_COM
Note 3 IO_PWR 1
TS_21
T2
A B C * INDICATES USER SUPPLIED COMPONENT

(2094-AL09 and -BL02) wired with the Bulletin 2090 RBM.
The example diagram below shows Kinetix 6000 IAM and LIM

A B C D
ControlLogix Input Device IO_PWR

1756-IB16
2 PWR
1 Light Curtain *
GND-0 IN-0
4 3 STOPSTAT
GND-0 IN-1 Out2 Out1 COM
6 5
GND-0 IN-2
8 7 COM
GND-0 IN-3
10 9
GND-1 IN-4 BRKTMP0
12 11
GND-1 IN-5
14 13
GND-1 IN-6 E-STOP *
16 15
GND-1 IN-7
18 17
GND-2 IN-8
20 19
GND-2 IN-9
22 21
GND-2 IN-10
24 23
GND-2 IN-11
26 25
GND-3 IN-12 Reset *
28 27
GND-3 IN-13 IO_PWR IO_PWR
30 29
GND-3 IN-14
32 31
GND-3 IN-15
34 33
NOT USED NOT USED A1 S52 S11 S12 S21 S22 S33 S34 13 23 37 47 57
36 35
NOT USED NOT USED
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

C-13
Set the RBM Delay Time In this procedure you will break SERCOS ring communications, set the
delay time parameter using DriveExplorer software, and re-establish
Using DriveExplorer SERCOS communication.
If you are using this version Then

of RSLogix 5000 software
Proceed with these instructions using DriveExplorer to
v11 or v12 set the RBM delay time parameter.
v13 or above Go to Configure Axis Properties on page 1-24 and use

RSLogix 5000 to set the RBM delay time parameter.
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.
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
1
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.
ATTENTION
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.
Remove SERCOS Communication
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.
Linear List Legend

N: P. x xxx
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
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 Go to Set the RBM Delay Time
Kinetix 6000 system Parameter (step 4).
1. Close DriveExplorer.
Do not have another RBM
in the Kinetix 6000 system 2. 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.


Appendix D
DC Common Bus Applications
Chapter Objectives 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.
Before You Begin 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 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 Maximum Bus

Leader IAM (230V) Capacitance Leader IAM (460V) Capacitance
2094- 2094-
µF µF
AC05-MP5 BC01-MP5
7145 4585
AC05-M01 BC01-M01
AC09-M02 15295 BC02-M02 8955
AC16-M03 34400 BC04-M03 8955
AC32-M05 62825 BC07-M05 17915
IMPORTANT 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.

DC Common Bus Applications D-3
Calculate Additional Bus Capacitance
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) Capacitance AM Inverter (230V) Capacitance

2094- µF 2094- µF
AC05-MP5 AMP5 390
270
AC05-M01 AM01 660
AC09-M02 540 AM02 780
AC16-M03 1320 AM03 1320
AC32-M05 1980 AM05 2640
IAM/AM (460V) Modules
IAM Converter (460V) Capacitance AM Inverter (460V) Capacitance

2094- µF 2094- µF
BC01-MP5 BMP5 75
110
BC01-M01 BM01 150
BC02-M02 220 BM02 270
BC04-M03 940 BM03 840
BC07-M05 1410 BM05 1175
SM (230/460V) Module
SM (230-460V) Capacitance
2094- µF
BSP2 470

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
AC Line
Filter
Three-Phase
Input Power
Kinetix 6000 (230V)

MAIN VAC
Leader IAM
11810 µF Total Bus Capacitance
Line Interface
Module
(optional
component)
PRF (2094-PRF) N/A
SM (2094-BSP2) 470 µF
AM (2094-AM02) 780 µF
AM (2094-AM03) 1320 µF
DC Common Bus AM (2094-AM03) 1320 µF
IAM (2094-AC16-M03) Converter 1320 µF
IAM (2094-AC16-M03) Inverter 1320 µF
Kinetix 6000 (230V)

Follower IAM
5280 µF Additional Bus Capacitance
PRF (2094-PRF) N/A

AM (2094-AM03) 1320 µF
AM (2094-AM03) 1320 µF
IAM (2094-AC16-M03) Converter 1320 µF
IAM (2094-AC16-M03) Inverter 1320 µF

Set the Additional Bus In this procedure you will set the Add Bus Cap parameter using
DriveExplorer software.
Capacitance Parameter
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
1
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.
ATTENTION
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.

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.
Linear List Legend

N: P. x xxx
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
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.

Index
Numerics A-33
1203-SSS serial cable B-2, B-4 RBM A-34, A-35
16 axis SERCOS interface PCI safe-off feature A-28
card installation instructions shunt module A-28
P-3 blown fuse 2-3
1756 module properties 1-18 brake A-24
1756-MxxSE interface module brake power LED 1-27, 2-12
1-9, 1-16 bus
1784-PM16SE PCI card 1-9 overvoltage 2-4
24V power LED 2-12 undervoltage 2-4
26-pin I/O connector 2-20 bus overcurrent 2-7
bus regulator 1-22
bus status LED 1-29, 1-32, 2-9,
A 2-11
acronyms P-4
additional bus capacitance
calculating D-3
C
example D-4 cables
analog test points fiber optic cable length 1-9
DAC0 2-20 CAD files P-3
DAC1 2-20 can init 2-7
applying power 1-26 CB1, CB2, CB3 1-26
with LIM 1-26 certifications
without LIM 1-30 Rockwell Automation Product
atune fault 2-6 Certification P-3
aux fdbk noise fault 2-6 changing parameters
aux feedback AQB 2-6 DriveExplorer 2-19
aux feedback loss 2-6 HIM 2-20
auxiliary encoder error, circuit breakers 1-26
see troubleshooting comm status LED 1-29, 1-31, 2-8
axis module commissioning your Kinetix 6000
connector designators 1-2 1-1
connector locations 1-4 common bus (see DC common
axis properties 1-24 bus)
axis unstable 2-14 Common Bus FLT 2-7
component removal and
replacement 2-22
B configuring
backplane comm 2-7 AM 1-15
bandwidth 1-37 base node address 1-10
base node address 1-10 baud rate, AM 1-15
example with two baud rate, IAM 1-14
ControlLogix chassis 1-12, feedback only axis 1-21
1-13 IAM 1-10
example with two power rails Kinetix 6000 1-9
1-11 optical power level 1-14, 1-15
baud rate 1-14, 1-15 SERCOS module 1-16
block diagrams connector designators
converter A-27 axis module 1-2
inverter A-26 integrated axis module 1-2
LIM A-29, A-30, A-31, A-32, line interface module 1-6

I-2 Index
shunt module 1-5 erratic operation 2-15

connector locations error codes 2-3
axis module 1-4 establishing communications 2-8
integrated axis module 1-3
line interface module 1-6, 1-8
F
shunt module 1-5
contents of manual P-2 fault action 2-16
control reliability C-5 fault action, programmable 2-16
controller properties 1-16 fault actions tab 1-25
controlling a brake A-24 feedback only axis 1-21
Controllogix Motion Module feedback tab 1-24
Programming Manual P-3 fiber optic cables
conventions used in this manual receive and transmit
P-4 connectors 1-9
conversion tab 1-24 Fiber-Optic Cable Installation
converter A-27 Instructions P-3
coordinated system time master firmware
1-17 upgrade file B-6
CPLD FLT 2-7 flyback diodes A-25
cycle time 1-19 follow error 2-4
D G
DAC0 2-20 ground fault 2-5
DAC1 2-20
data rate 1-19 H
data type 1-20 hardware overtravel 2-4
date and time tab 1-17 HIM 2-19
DC common bus hookup fault 2-6
configuring 1-22 hookup tab 1-34
interconnect diagram A-8, A-9, human interface module (HIM)
A-10, A-12 2-19
setting the add bus cap hyperterminal B-4
parameter D-5
digital I/O not working correctly
2-3 I
dip switches 1-19 I/O connector 2-20
disable drive 2-16 I/O power LED 1-27, 2-12
documentation files P-3 Ifbk HW Fault 2-6
download program 1-25 illegal hall state 2-4
drive enable fault 2-5 integrated axis module
drive overcurrent 2-3 configuring 1-10
drive overtemp 2-5, 2-7 connector designators 1-2
drive status LED 1-29, 1-31, 2-8 connector locations 1-3
drive tab 1-24 interconnect diagram A-3, A-4,
drive undervoltage 2-5 A-6, A-7, A-8, A-9, A-10,
DriveExplorer 2-19, B-1, C-14, A-12
D-5 interconnect diagrams
2094 with H-Series motor A-21
2094 with MPG-A motor A-17,
E A-18, A-19
encoder communication fault 2-5

Index I-3
2094 with MPG-B motor A-16 seven segment 1-28

2094 with MPL-A motor A-17, shunt fault 2-11
A-18, A-19 status 1-28, 1-31, 1-33, 2-2
2094 with MPL-B motor A-16 temperature fault 2-11
2094 with N-Series motor A-22 LIM 1-26
2094 with Y-Series motor A-23 line interface module
2094 with1326AB motor A-20 brake power LED 1-27
controlling a brake example connector designators 1-6
A-25 connector locations 1-6, 1-8
notes A-1, C-5 I/O power LED 1-27
power, DC common bus A-8, interconnect diagram A-3, A-4,
A-9, A-10, A-12 A-6, A-7
power, IAM with LIM A-3, A-4 removing 2-27
power, IAM without LIM A-6, replacing 2-28
A-7 system block diagram A-29,
RBM C-6 A-30, A-31, A-32, A-33
shunt module A-13, A-14, A-15 Literature Library P-3
introduction P-1 logic power 1-30, 2-2
inverter A-26 logic power LED 1-28
IPM fault, see troubleshooting Logix5000 Controllers Motion
Instructions Reference Manual
P-3
K
Logix5000 Motion Modules User
Kinetix 6000 Manual P-3, 1-16, 1-33
axis properties 1-24 loop configuration 1-24
configuring 1-9
Installation Manual P-3
Line Interface Module M
Installation Instructions P-3 maintenance 2-2
module properties 1-20 memory init 2-6
troubleshooting 2-1 module mismatch 2-7
user documentation and CAD module properties
files CD P-3 1756 SERCOS interface 1-18
Kinetix Motion Control Selection IAM 1-20
Guide P-3 Motion Analyzer CD P-3
Kinetix Safe-Off Feature Motion Control Selection Guide
Reference Manual P-3 P-3
motion group properties 1-23
motor accel/decel problems 2-14
L
motor and feedback tab 1-24
LED motor encoder error 2-4
24V power, LIM 2-12 motor feedback loss 2-4
brake power, LIM 1-27, 2-12 motor jumps when first enabled
bus status 1-29, 1-32, 2-9, 2-11 2-3
comm status 1-29, 1-31, 2-8 motor overheating 2-15
drive status 1-29, 1-31, 2-8 motor overtemp 2-3
I/O power, LIM 1-27, 2-12 motor velocity 2-14
logic power 1-28, 1-30, 2-2 motors
RBM 230V status 2-13 interconnect diagram
RBM 24V status 2-12 1326AB A-20
SERCOS 1756 module 1-32 H-Series A-21
SERCOS interface module 1-29

I-4 Index
MPG-A A-17, A-18, A-19 replacing

MPG-B A-16 components 2-22
MPL-A A-17, A-18, A-19 LIM 2-28
MPL-B A-16 power rail modules 2-24
N-Series A-22 resistive brake module
Y-Series A-23 interconnect diagrams C-6
testing 1-33 setting the RBM delay time
tuning 1-33 C-14
MOV A-25 system block diagram A-34,
mtr fdbk noise fault 2-6 A-35
Resistive Brake Module
Installation Instructions P-3
N risk assessment C-4
National Electrical Code P-3 Rockwell Automation Product
no communication 2-8 Certification P-3
no rotation 2-15 RSLogix 5000 software 1-16, 2-19,
node address 1-20 C-14, D-5
noise
abnormal 2-15
feedback 2-15 S
NV mem init 2-6 safe-off
block diagram A-28
safe-off HW fault 2-6
O
safety
objects init 2-6 control reliability C-5
optical power level 1-14, 1-15, risk assessment C-4
1-19 standards C-2
overspeed fault 2-4 stop categories C-3
safety reference manual P-3
P SCANport comm 2-6
parameters, changing 2-19 SCANport/DPI adapter C-14, D-5
power indicator not on 2-3 self sense fault 2-5
power phase loss 2-5 SERCOS init 2-7
power rail SERCOS interface module
removing 2-25 installation instructions P-3
removing modules 2-23 SERCOS ring fault 2-5
replacing 2-26 SERCOS same addr 2-6
power up 1-26 setting the add bus cap parameter
precautions D-5
general startup 1-1 seven segment status LED 1-28,
precharge fault 2-5 1-30
purpose of this manual P-1 shunt fault LED 2-11
shunt module A-28
connector designators 1-5
R connector locations 1-5
related documentation P-3 interconnect diagram A-13,
relay output A-24 A-14, A-15
removing shunt module troubleshooting
components 2-22 2-10
LIM 2-27 shunt time fault 2-7
modules 2-23 shunt time out 2-7

Index I-5
shutdown 2-16 aux fdbk noise fault 2-6

SoftLogix Motion Card Setup and aux feedback AQB 2-6
Configuration Manual P-3, aux feedback loss 2-6
1-16, 1-33 auxiliary encoder error
software 2-4
RSLogix 5000 1-16, 2-19 backplane comm 2-7
software overtravel 2-4 blown fuse 2-3
start-up procedure 1-1 bus overcurrent 2-7
status LEDs 1-28, 1-31, 1-33, 2-2 bus undervoltage 2-4
status only 2-16 can init 2-7
stop categories C-3 Common Bus FLT 2-7
stop motion 2-16 CPLD FLT 2-7
storage P-2 digital I/O not working
supplemental troubleshooting correctly 2-3
information 2-19 drive enable fault 2-5
surge suppression A-25 drive overcurrent 2-3
switches drive overtemp 2-5, 2-7
base node address 1-10 drive undervoltage 2-5
baud rate 1-14, 1-15 encoder communication
optical power level 1-14, 1-15 fault 2-5
system block diagrams follow error 2-4
converter A-27 ground fault 2-5
inverter A-26 hardware overtravel 2-4
LIM A-29, A-30, A-31, A-32, hookup fault 2-6
A-33 Ifbk HW Fault 2-6
RBM A-34, A-35 illegal hall state 2-4
safe-off feature A-28 IPM fault 2-3
shunt module A-28 memory init 2-6
System Design for Control of module mismatch 2-7
Electrical Noise P-3 motor encoder error 2-4
motor feedback loss 2-4
motor jumps when first
T
enabled 2-3
task init 2-6 motor overtemp 2-3
temperature fault LED 2-11 mtr fdbk noise fault 2-6
testing axes NV mem init 2-6
hookup tab 1-34 objects init 2-6
total bus capacitance overspeed fault 2-4
calculating D-2 power indicator not on
example D-4 2-3
troubleshooting 2-2 power phase loss 2-5
24V power LED 2-12 precharge fault 2-5
brake power LED 2-12 safe-off HW fault 2-6
bus status LED 2-9, 2-11 SCANport comm 2-6
comm status 2-8 self sense fault 2-5
disable drive 2-16 SERCOS init 2-7
drive status LED 2-8 SERCOS ring fault 2-5
error codes 2-3 SERCOS same addr 2-6
fault action 2-16 shunt module fault 2-7
general shunt time out 2-7
atune fault 2-6 software overtravel 2-4

I-6 Index
task init 2-6 information 2-19

unknown axis 2-6 changing parameters
general system problems 2-14 2-19
abnormal noise 2-15 using analog test points
axis unstable 2-14 2-20
erratic operation 2-15 temperature fault LED 2-11
feedback noise 2-15 troubleshooting your Kinetix
motor accel/decel 6000 2-1
problems 2-14 tuning axes
motor overheating 2-15 bandwidth 1-37
motor velocity 2-14 tune tab 1-36
no rotation 2-15
I/O power LED 2-12
U
Logix/drive fault behavior 2-16
programmable fault action units tab 1-24
2-16 unknown axis 2-6
RBM 230V status LED 2-13 user manuals P-3
RBM 24V status LED 2-12
shunt fault LED 2-11 W
shunt module 2-10 who should use this manual P-1
shutdown 2-16
status only 2-16
stop motion 2-16 X
supplemental troubleshooting Xmodem B-7

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

configuration and troubleshooting, we offer TechConnect Support programs.
For more information, contact your local distributor or Rockwell Automation
representative, or visit http://support.rockwellautomation.com.
Installation Assistance
If you experience a problem with a hardware module within the first 24

hours of installation, please review the information that's contained in this
manual. You can also contact a special Customer Support number for initial
help in getting your module up and running:
United States 1.440.646.3223

Monday – Friday, 8am – 5pm EST
Outside United Please contact your local Rockwell Automation representative for any
States technical support issues.
New Product Satisfaction Return
Rockwell tests all of its products to ensure that they are fully operational
when shipped from the manufacturing facility. However, if your product is
not functioning and needs to be returned:
United States Contact your distributor. You must provide a Customer Support case
number (see phone number above to obtain one) to your distributor in
order to complete the return process.
Outside United Please contact your local Rockwell Automation representative for
States return procedure.

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

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

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

Identifies information that is critical for successful

Identifies information about practices or circumstances

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

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

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

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

Publication 2094-IN002E-EN-P — September 2005

Publication 2094-IN002E-EN-P — September 2005

Publication 2094-IN002E-EN-P — September 2005

• Who Should Use this Manual

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

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

Chapter Title Contents

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

• Use a clean, dry location

Publication 2094-IN002E-EN-P — September 2005

Related Documentation The following documents contain additional information concerning

For Read This Document Catalog Number

Information on the installation and wiring of Bulletin 2090 Resistive

For declarations of conformity (DoC) currently available from Rockwell www.ab.com/

Publication 2094-IN002E-EN-P — September 2005

Kinetix 6000 Component Catalog Numbers Acronym

Publication 2094-IN002E-EN-P — September 2005

Commission Your Kinetix 6000

• General Startup Precautions

ATTENTION This drive contains ESD (Electrostatic Discharge)

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

Integrated Axis Module/Axis Module Connectors

Designator Description Connector Present on

Publication 2094-IN002E-EN-P — September 2005

Integrated Axis Module, top view

(CED) Connector CONT EN+ DBRK +

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

SERCOS Transmit (Tx) Connector

Integrated Axis Module, front view

Drive Status LED

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

Publication 2094-IN002E-EN-P — September 2005

Axis Module, top view

SERCOS Baud Rate

SERCOS Transmit (Tx) Connector

Axis Module, front view

Drive Status LED

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

Publication 2094-IN002E-EN-P — September 2005

Locate Shunt Module Connectors

Designator Description Connector

Shunt Module, top view

TS1 (TS) Connector

Shunt Module, front view

Shunt Fault LED

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