Kinetix 6200 Modular Multi-axis Servo Drives

This is preliminary selection guide material for the Kinetix 6200 Modular Multi-axis Servo Drives. The next revision of the Kinetix Motion Control Selection Guide, publication GMC-SG001O-EN-P, is coming soon.

Kinetix 6200 Modular Multi-axis Servo Drives

Servo Drive Features Comparison

Kinetix 6200 modular drives meet CE compliance and are UL Listed to U.S. and Canadian safety standards. Refer to http://www.ab.com for more information.

Drive Features Kinetix 2000 Kinetix 6200 Kinetix 6000 Kinetix 7000

Main Characteristics • Multi-axis• Common Bus

• Multi-axis• Common Bus• Modular Design

• Multi-axis• Common Bus• Enhanced Peak Performance

• High-power applications• Common Bus

Safe Speed MonitoringTÜV certified SIL CL3, PLe, category 4

Safe-off Control TÜV certified SIL CL3, PLe, category 3

Drive Configuration 1…8 Axes on Bulletin 2093 Power Rail 1…8 Axes on Bulletin 2094 Power Rail Single-axis

Input Voltage 170…264V AC, Single-phase or Three-phase (230V systems)

324…528V AC, Three-phase(460V systems)

195…265V AC, Three-phase(230V systems)

342…528V AC Three-phase324…528V AC, Three-phase(460V systems)

Common Bus FollowerInput Voltage 240…375V DC (230V systems) 458…747V DC (460V systems)

275…375V DC (230V systems)450…750V DC

458…747V DC (460V systems)

Continuous Output Power

2.0 kW (single-phase input)6…45 kW (460V systems)

3…23 kW (230V systems)22…149 kW

3.0 kW (three-phase input) 6…45 kW (460V systems)

Continuous Output Current 1.0…9.5 A rms 2.8…34.6 A rms (460V systems)

3.7…34.6 A rms (230V systems)40…248 A rms

2.8…34.6 A rms (460V systems)

Drive Digital Inputs • Enable, Home, OverTravel ±• High Speed Registration (2/axis)

• Enable, Home, OverTravel ±• High Speed Registration (2)

Drive Digital Outputs Motor Brake Relay Output (with suppression)

DPI Connector • DriveExplorer• DPI HIM

N/A• DriveExplorer• DPI HIM

Programming RSLogix 5000 Software (Ladder Logic, Structured Text, and Sequential Function Charts)

Logix Module Compatibility

• 1756-M03SE, 1756-M08SE, 1756-M16SE• 1768-M04SE

I/O Control Fiber-optic SERCOS

Feedback

• High-resolution absolute multi-turn and single-turn encoder

• Incremental Encoder




• Incremental Encoder• Resolver



Feedback-only Auxiliary Axis

Rotary Motors Compatibility

• MP-Series (Bulletin MPL/MPF/MPS)

• TL-Series (Bulletin TLY)

• MP-SeriesLow Inertia (Bulletin MPL)

• Medium Inertia (Bulletin MPM)• Food Grade (Bulletin MPF)• Stainless Steel (Bulletin MPS)• RDD-Series Direct Drive

• MP-Series (Bulletin MPL/MPF/MPS)

• TL-Series (Bulletin TLY)

• HPK-Series• MP-Series (Bulletin MPL-B5xxx,

MPL-B6xxx, MPL-B8xxx, and MPL-B9xxx)

Linear Motors Compatibility

• LDC-Series Iron Core• LDL-Series Ironless

LDC-Series Iron Core• LDC-Series Iron Core• LDL-Series Ironless

N/A

Linear Actuator Compatibility

• MP-Series Linear Stages • MP-Series Multi-axis Stages • MP-Series Electric Cylinders• TL-Series Electric Cylinders

• MP-Series Linear Stages • MP-Series Multi-axis Stages • MP-Series Electric Cylinders

• MP-Series Linear Stages • MP-Series Multi-axis Stages • MP-Series Electric Cylinders• TL-Series Electric Cylinders

N/A

Accessory Compatibility

• 2094 Line Interface Modules• 1336 External Active Shunt

• 2094 Line Interface Modules• 2090 Resistive Brake Modules• 1394 External Passive Shunt

• 2094 Line Interface Modules• 2090 Resistive Brake Modules• 1394 External Passive Shunt• 1336 External Active Shunt

• 8720MC Regenerative PS• 8720MC Line Reactor• 1336 External Active Shunt• 2094 Line Interface Modules

Publication GMC-SG001O-EN-P — Preliminary 2009 1

http://www.ab.com



The Kinetix 6200 modular safe-speed servo drives help increase productivity and protect personnel with embedded safety features. Modular design and control provides ease of maintenance and greater flexibility as the drive easily transitions from safe torque-off to safe speed.

For information on configuring and wiring the safe-speed functions, refer to the Kinetix 6200 Safe Speed Monitoring Safety Reference Manual, publication 2094-RM001. Contact your Rockwell Automation sales representative for the availability of Kinetix 6200 safe torque-off control modules.

The Kinetix 6200 modular multi-axis servo drives require RSLogix 5000 software, version 17 or later, and are part of the Kinetix Integrated Motion solution.

Kinetix 6200 Servo Drive Components

Kinetix 6200 modular servo drive systems consist of these required components:

• One integrated axis power module (IAM or leader IAM), 2094-BCxx-Mxx-M (460V)

• Up to seven axis power modules (AM), 2094-BMxx-M (460V)

• Up to eight control modules, 2094-SE02F-M00-S1 (SERCOS)

• One power rail, 2094-PRS1, 2094-PRS2, 2094-PRS3, 2094-PRS4, 2094-PRS5, 2094-PRS6, 2094-PRS7, or 2094-PRS8

• One to eight rotary/linear motors or linear actuators (MP-Series, RDD-Series, or LDC-Series)

• One to eight motor power and feedback cables

• Two to nine SERCOS fiber-optic cables

• One to eight Ethernet cables

Topic Page

Kinetix 6200 Servo Drive Components 2

Kinetix 6200 and Kinetix 6000 Drive Component Compatibility 3

Kinetix 6200 Integrated Axis Power Modules 8

Kinetix 6200 Axis Power Modules 11

Kinetix 6200 Control Modules 13

Kinetix 6200 General System Specifications 14

Kinetix 6200 Features and Indicators 18

Kinetix 6200 Drive/Motor System Combinations 20

2 Publication GMC-SG001O-EN-P — Preliminary 2009

http://literature.rockwellautomation.com/idc/groups/literature/documents/rm/2094-rm001_-en-p.pdf


Kinetix 6200 systems may also include any of these optional components:

• One or more IAM power modules used as a follower IAM, 2094-BCxx-Mxx-M (460V) and associated axis modules, power rails, motors, and cables as required for the application.

• One shunt module, 2094-BSP2 with optional Bulletin 1394 external passive shunt module

• Slot-filler modules, 2094-PRF

• Bulletin 2094 Line Interface Module (LIM)

• Bulletin 2090 Resistive Brake Module (RBM)

Kinetix 6200 and Kinetix 6000 Drive Component Compatibility

The Kinetix 6200 modular 2094-BCxx-Mxx-M and 2094-BMxx-M power modules contain the same power structure as the 2094-BCxx-Mxx-S and 2094-BMxx-S Kinetix 6000 modules. Because of this, the 2094-BSP2 shunt module, 2094-PRF slot-filler module, 2094-PRSx power rails, and Bulletin 2094 line interface modules (LIM) are supported by both drive families.

In addition, 2094-BMxx-M modular AM modules are supported on power rails with 2094-BCxx-Mxx-S IAM modules. Conversely, 2094-BMxx-S AM modules are supported on power rails with 2094-BCxx-Mxx-M IAM power modules. Also, each Kinetix 6200 power module requires one control module.

IAM/AM Module Compatibility

For more information on the Kinetix 6000 IAM and AM modules, catalog numbers 2094-xCxx-Mxx-S and 2094-xMxx-S, refer to the Kinetix Motion Control Selection Guide, publication GMC-SG001N.

For more information on the Bulletin 2094 power rails, shunt module, slot-filler module, RBM and LIM modules, refer to the Kinetix Motion Control Selection Guide, publication GMC-SG001N.

IAM Module/Control Module IAM Power Module

2094-xMxx-SKinetix 6000AM Module

2094-BMxx-M AM Power Modules

Kinetix 6200Control Module

2094-xCxx-Mxx-SKinetix 6000 (SERCOS) N/A Full Full

2094-SE02F-M00-Sx Kinetix 6200 (SERCOS) 2094-xCxx-Mxx-M Full Full


http://literature.rockwellautomation.com/idc/groups/literature/documents/sg/gmc-sg001_-en-p.pdf

http://literature.rockwellautomation.com/idc/groups/literature/documents/sg/gmc-sg001_-en-p.pdf


Typical Hardware Configurations

Kinetix 6200 Drive System (with LIM module)

MAIN VAC

Kinetix 6200 Multi-axis Servo Drive System

Line Interface Module(optional component)

2094-xLxxS AM Power Modules (5)2094-BMxx-M withControl Modules (5)2094-SE02F-M00-S1

Three-phaseInput Power

IAM Power Module2094-BCxx-Mxx-M

withControl Module

2094-SE02F-M00-S1

Shunt Module(optional component)2094-BSP2

AC Line Filter2090-XXLF-xxxx(required for CE)

Power Rail2094-PRSx

Slot Filler Module(required to fill any unused slots)2094-PRF

I/O Connections

To Input Sensorsand Control String

115/230V Control Power

Low Profile Connector Kits for I/O, Safety, Motor Feedback, and Aux Feedback

2090-K6CK-DxxM

MP-Series Integrated Linear Stages(MPAS-B9xxx ballscrew shown)

MP-Series Rotary Motors(MPL-Bxxxx motors shown)

Bulletin 2090Motor Feedback Cables Bulletin 2090

Motor Power Cables

MP-Series Electric Cylinders(MPAR-Bxxxx electric cylinder shown)

LDC-Series Linear Motors(LDC-Cxxxxxxx linear motor shown)



Kinetix 6200 Drive System (without LIM module)


LineDisconnect

Device

MagneticContactor

InputFusing


Single-phaseControl Power

Power Rail2094-PRSxI/O Connections

To Input Sensorsand Control String


Slot Filler Module(required to fillany unused slots)2094-PRF

Low Profile Connector Kits for I/O, Safety, Motor Feedback, and Aux Feedback

2090-K6CK-DxxM


AM Power Modules (5)2094-BMxx-M withControl Modules (5)2094-SE02F-M00-S1


withControl Module

2094-SE02F-M00-S1

MP-Series Integrated Linear Stages(MPAS-B9xxx ballscrew shown)

MP-Series Rotary Motors(MPL-Bxxxx motors shown)

MP-Series Electric Cylinders(MPAR-Bxxxx electric cylinder shown)

LDC-Series Linear Motors(LDC-Cxxxxxxx linear motor shown)

Bulletin 2090Motor Feedback Cables Bulletin 2090

Motor Power Cables



In the Kinetix 6200 system configuration below, the leader IAM power module is connected to the follower IAM module via the DC common bus. When planning your panel layout, you must calculate the total bus capacitance of your DC common bus system to make sure that the leader IAM power module is sized sufficiently to pre-charge the entire system. Refer to the Kinetix 6200 Modular Servo Drive User Manual, publication 2094-UM002, when making this calculation.

Kinetix 6200 Drive System (DC Common Bus)

Motors and other details common to both three-phase AC and DC common-bus configurations are removed.

IMPORTANT If total bus capacitance of your system exceeds the leader IAM power module pre-charge rating, the IAM module four-character display scrolls error code ALARM M13…POWER CYCLE UL. If input power is applied, the drive display scrolls error code FLT M12…POWER CYCLE FL.

To correct this condition, you must replace the leader IAM power module with a larger module or decrease the total bus capacitance by removing AM power modules.



115/230V Control Power

Power Rail(2094-PRSx)




Line Interface Module(optional component)

2094-xLxxS

DC Common Bus

Power Rail(2094-PRSx)

Motors and other details common to both three-phase ac and dc common bus configurations are removed.




withControl Module

2094-SE02F-M00-S1



withControl Module

2094-SE02F-M00-S1


http://literature.rockwellautomation.com/idc/groups/literature/documents/um/2094-um002_-en-p.pdf


The Kinetix 6200 control modules use SERCOS interface for configuring the Logix module and EtherNet/IP for access to the safety configuration tool.

In this example, an ethernet cable is connected to each control module when programming the safety configuration. EtherNet/IP connectivity is not required during runtime. For more information on ethernet cables, refer to Bulletin 1585 Ethernet Physical Media Catalog Pages, publication 1585-CA500. Also shown are drive-to-drive SERCOS cable lengths and catalog numbers when Kinetix 6000 and Kinetix 6200 drive modules exist on the same power rail.

Kinetix 6200 Drive Communication (SERCOS)

SERCOS interface

Tx (rear)

Rx (front)

OKCP

62006200SAFE SPEED

62006200SAFE SPEED

62006200SAFE SPEED

62006200SAFE SPEED

62006200SAFE SPEED

62006200SAFE SPEED

0.2 m(7.0 in.)

62006200SAFE SPEED

62006200SAFE SPEED

62006200SAFE SPEED

0.2 m(7.0 in.)

0.1 m(5.1 in.)

Logix SERCOS interface Module

Logix Platform(ControlLogix is shown)

RSLogix 5000Software

SERCOS Fiber-optic Cable (2090-SCxxx-x)

Logix Controller Programming Network



withControl Module

2094-SE02F-M00-S1

Ethernet (RJ45) connections areonly required for programming

the safety configuration.

Ethernet Cable(1585J-M8TBJM-x)

Drive-to-Drive SERCOS Cable Selection2094-BCxx-Mxx-M or2094-BMxx-M to 2094-BMxx-M = 2090-SCEP0-2

2094-BCxx-Mxx-M or2094-BMxx-M to 2094-BMxx-S = 2090-SCEP0-1

2094-BCxx-Mxx-S or2094-BMxx-S to 2094-BMxx-S = 2090-SCEP0-1

2094-BCxx-Mxx-S or2094-BMxx-S to 2094-BMxx-M = 2090-SCEP0-2


withControl Module

2094-SE02F-M00-S1

0.2 m (7.0 in.)Kinetix 6200 Drive-to-Drive SERCOS Cables

2094-BMxx-SAM Modules

2094-BMxx-M AM Power Modules with2094-SE02F-M00-S1 Control Modules


http://literature.rockwellautomation.com/idc/groups/literature/documents/ca/1585-ca500_-en-p.pdf


Kinetix 6200 Integrated Axis Power Modules

This section contains power specifications, mounting dimensions, and catalog numbers for the modular Bulletin 2094 (460V) IAM power modules. Choose your IAM power module based on the converter and inverter power requirements of your application.

Integrated Axis Module (converter) Power Specifications

IAM Module (460V) Power Specifications

Attribute 2094-BC01-MP5-M 2094-BC01-M01-M 2094-BC02-M02-M 2094-BC04-M03-M 2094-BC07-M05-M

AC input voltage 324…528V rms three-phase (360…480V nom)

Contact your Rockwell Automation sales representative for the availability of this IAM power module.

Contact your Rockwell Automation sales representative for the availability of this IAM power module.

AC input frequency 47…63 Hz

Main AC input current Nom (rms) Max inrush (0-pk) (1)

(1) All IAM power modules are limited to 2 contactor cycles per minute (with up to 4 axes), or 1 contactor cycle per minute (with 5…8 axes). The cycle capability also depends on the converter power rating and the total system capacitance. To calculate cycle capability, refer to the Kinetix 6200 Modular Multi-axis Servo Drives User Manual, publication 2094-UM002.

10.0 A11.0 A

24.0 A22.0 A

DC input voltage (common bus follower) 458…747V DC

DC input current (common-bus follower) 9.0 A 22.6 A

Control power AC input voltage 95…264V rms single-phase (230V nom)

Control power AC input currentNom (@ 220/230V AC) rmsNom (@ 110/115V AC) rmsMax inrush (0-pk)

3 A6 A98 A (2)

(2) For eight axis systems with 230V AC control input voltage and 50 °C (122°F) ambient temperature the maximum inrush duration is less than 1/2 line cycle. To calculate the maximum inrush duration for other configurations, refer to the Kinetix 6200 Modular Multi-axis Servo Drives User Manual, publication 2094-UM002.

Nominal bus output voltage 650V DC

Line loss ride through 20 ms

Continuous output current to bus (Adc) 9.0 A 22.6 A

Peak output current to bus (Adc) (3)

(3) Converter peak output duration equals 400 ms with a duty cycle of 16%.

22.6 A 56.4 A

Bus overvoltage 825V DC

Bus undervoltage 275V DC

Internal shuntContinuous powerPeak power

50 W5.6 kW

Internal shunt resistor 115 Ω

Shunt on 805V DC

Shunt off 765V DC

Continuous power output to bus 6 kW 15 kW

Peak power output at 480V (3) 15 kW 37.5 kW

Efficiency 97%

Converter inductance 500 μH

Converter capacitance 110 μF 220 μF

Short circuit current rating 200,000 A (rms) symmetrical





Control Power Current Requirements

Integrated Axis Module Dimensions

IAM Power Module Dimensions (460V)2094-BC01-MP5-M, 2094-BC01-M01-M, and 2094-BC02-M02-M

The IAM power module is shown mounted to the power rail with the control module attached.

IAM Power Module Dimensions

Power Modules on Power Rail

110/115V AC

Input A

220/230V AC InputA

Input VAVA

Power Modules on Power Rail

110/115V AC Input A

220/230V AC InputA

Input VAVA

IAM only 0.75 0.35 150 IAM, 4 AM 3.75 1.70 450

IAM, 1 AM 1.50 0.70 200 IAM, 5 AM 4.50 2.0 550

IAM, 2 AM 2.25 1.0 275 IAM, 6 AM 5.25 2.40 650

IAM, 3 AM 3.0 1.35 350 IAM, 7 AM 6.0 3.0 750

IAM Power Module Cat. No.

Amm (in.)

Bmm (in.)

Dmm (in.)

Emm (in.)

Fmm (in.)

2094-BC01-MP5-M

302 (11.9) 290 (11.4) 80.0 (3.2) 260 (10.25) 290 (11.4)2094-BC01-M01-M

2094-BC02-M02-M

125(4.9)

B

A

D

F

E

5.0(0.20)

Dimensions are in millimeters (inches)

Power Rail

2094-BC01-M01-M (460V) is shown

2090-K6CK-D44MLow-profile Connector Kit

for Auxiliary Feedback, Safety, and I/O

2090-K6CK-D15MLow-profile Connector Kit for Motor Feedback



Integrated Axis Module Catalog Numbers

Catalog numbers consist of various characters, each of which identifies a specific version or option for that component. Use the catalog numbering table chart below to understand the configuration of your module. For questions regarding product availability, contact your Allen-Bradley distributor.

2094 - x C xx - M xx - x

Converter Power Rating01 = 6 kW (460V input voltage)02 = 15 kW (460V input voltage)

Input VoltageB = 460V AC, 50/60 Hz

Bulletin Number

Inverter (Axis Module)

Inverter Current Rating (peak of sine)P5 = 4 A (460V input voltage)01 = 9 A (460V input voltage)02 = 15 A (460V input voltage)

Converter

Power ModuleM = Modular



Kinetix 6200 Axis Power Modules

This section contains power specifications, mounting dimensions, and catalog numbers for the modular Bulletin 2094 (460V) axis modules (AM). Choose your AM power module based on the inverter power requirements of your application.

Axis Module (inverter) Power Specifications

These specifications apply to the axis module specified in the column heading by catalog number and the same axis module (inverter section) that resides within an IAM power module.

AM Module (inverter) 460V Power Specifications

Attribute 2094-BMP5-M(2094-BC01-MP5-M)

2094-BM01-M(2094-BC01-M01-M)

2094-BM02-M(2094-BC02-M02-M)

2094-BM03-M(2094-BC04-M03-M)

2094-BM05-M(2094-BC07-M05-M)

Bandwidth (1)

Velocity loopCurrent loop

(1) Bandwidth values vary based on tuning parameters and mechanical components.

500 Hz1300 Hz

Contact your Rockwell Automation sales representative for the availability of this AM power module.

Contact your Rockwell Automation sales representative for the availability of this AM power module.

PWM frequency 8 kHz 4 kHz

Nominal input voltage 650V DC

Continuous current (rms) 2.8 A 6.1 A 10.3 A

Continuous current (sine) 0-pk 4.0 A 8.6 A 14.6 A

Peak current (rms) (2)

(2) Refer to the Kinetix 6200 Modular Multi-axis Servo Drives User Manual, publication 2094-UM002, for duty cycle capability information.

7.0 A 15.3 A 25.8 A

Peak current (0-pk) (2) 9.9 A 21.6 A 36.4 A

Continuous power out (nom) 1.8 kW 3.9 kW 6.6 kW

Internal shuntContinuous powerPeak power

50 W5.6 kW

Internal shunt resistor 115 Ω

Shunt on 805V DC

Shunt off 765V DC

Efficiency 98%

Capacitance 75 μF 150 μF 270 μF

Capacitive energy absorption 10 J 19 J 35 J

Short circuit current rating 200,000 A (rms) symmetrical




Axis Power Module Dimensions

AM Power Module Dimensions (460V)2094-BMP5-M, 2094-BM01-M, and 2094-BM02-M

The AM power module is shown mounted to the power rail with the control module attached.

AM Power Module Dimensions

Axis Power Module Catalog Numbers


AM Power ModuleCat. No.

Amm (in.)

Bmm (in.)

Dmm (in.)

Emm (in.)

Fmm (in.)

2094-BMP5-M

302 (11.9) 290 (11.4) 80.0 (3.2) 260 (10.25) 290 (11.4)2094-BM01-M

2094-BM02-M

70(2.76)

A

D

F

E

BDimensions are in millimeters (inches)

2090-K6CK-D44MLow-profile Connector Kit

for Auxiliary Feedback, Safety, and I/O

Power Rail

2094-BM01-M (460V) is shown

2090-K6CK-D15MLow-profile Connector Kit for Motor Feedback

2094 - x M xx - x

Module Input VoltageBM = 460V AC, 50/60 Hz

Bulletin Number

Inverter Current Rating (peak of sine)P5 = 4 A (460V input voltage)01 = 9 A (460V input voltage)02 = 15 A (460V input voltage)

Power ModuleM = Modular



Kinetix 6200 Control Modules

This section contains specifications and catalog numbers for the modular Bulletin 2094 SERCOS control modules. Choose your control module based on the communication and safety requirements of your application.

Control Module Specifications

Control modules couple with IAM and AM power modules to provide drive status indicators and an interface to I/O, communication, safety functionality, and feedback.

Control Module Catalog Numbers


FeatureSafe Torque-off Safe Speed Monitoring

2094-EN02D-M01-S0 (1)

(1) For the availability of this Bulletin 2094 control module contact your Rockwell Automation sales representative.

2094-SE02F-M00-S0 (1) 2094-EN02D-M01-S1 (1) 2094-SE02F-M00-S1

Ethernet ports 2 1 2 1

SERCOS ports – Rx/Tx – Rx/Tx

DC Bus status indicator √ √ √ √

Network status indicator √ – √ –

Module status indicator √ – √ –

Drive status indicator – √ – √

Comm status indicator – √ – √

Safety lock status indicator – – √ √

PORT 1 status indicator √ √ √ √

PORT 2 status indicator √ – √ –

IOD connector for I/O, safety, and auxiliary feedback √ √ √ √

MF connector for motor feedback √ √ √ √

2094 - xx 02 x - M0x - Sx

Axis Performance02 = 500 µs

Bulletin Number

Control FeaturesM00 = SERCOS control

Safety FeaturesS1 = Safe speed monitoring

Network MediaF = Fiber optic (SERCOS)

Network CommunicationSE = SERCOS interface



Kinetix 6200 General System Specifications

This section contains environmental, weight, power dissipation, circuit breaker/fuse, transformer, and contactor specifications.

Environmental Specifications

Weight Specifications

Maximum Feedback Cable Lengths

Although motor feedback cables are available in standard lengths up to 90 m (295.3 ft), the drive/motor/feedback combination may limit the maximum cable length, as shown in the tables below.

Attribute Operational Range Storage Range (nonoperating)

Ambient temperature 0...50 ° C (32...122 ° F) -40...70 ° C (-40...158 ° F)

Relative humidity 5…95% noncondensing 5…95% noncondensing

Altitude 1000 m (3281 ft)3000 m (9843 ft) with derating 3000 m (9843 ft) during transport

Vibration 5…55 Hz @ 0.35 mm (0.014 in.) double amplitude, continuous displacement; 55…500 Hz @ 2.0 g peak constant acceleration (10 sweeps in each of 3 mutually perpendicular directions).

Shock 15 g, 11 ms half-sine pulse (3 pulses in each direction of 3 mutually perpendicular directions)

IAMPower Module Cat. No. Weight, approx.

kg (lb)AMPower Module Cat. No. Weight, approx.

kg (lb)

IAM(460V)

2094-BC01-MP5-M 5.67 (12.5)AM(460V)

2094-BMP5-M 3.18 (7.0)

2094-BC01-M01-M 5.67 (12.5) 2094-BM01-M 3.18 (7.0)

2094-BC02-M02-M 5.90 (13.0) 2094-BM02-M 3.40 (7.5)

Kinetix 6200 Control Module Cat. No. Weight, approx.

kg (lb)

SERCOS 2094-SE02F-M00-S1 0.68 (1.5)

MP-Series Rotary Motors

MPL-B and MPM-B (460V) Motors MPF-B and MPS-B (460V) Motors

Absolute High-Res (1)

m (ft)

(1) Refers to MPL-Bxxxx-S/M or E/V (single-turn or multi-turn) low-inertia motors with absolute high-resolution feedback.Refers to MPM-Bxxxxx-S/M (single-turn or multi-turn) medium-inertia motors with absolute high-resolution feedback.

Incremental (2)

m (ft)

(2) Refers to MPL-Bxxxx-H low-inertia motors with 2000-line incremental feedback.

Absolute High-Res (3) (4)

m (ft)

(3) Refers to MPF-Bxxxx-S/M (single-turn or multi-turn) food-grade motors with absolute high-resolution feedback.

(4) Refers to MPS-Bxxxx-S/M (single-turn or multi-turn) stainless-steel motors with absolute high-resolution feedback.

90 (295.3) 30 (98.4) 90 (295.3)

RDD-Series Direct Drive Motors

RDD-Series Motors

AbsoluteHigh-Resolution (1)

m (ft)

(1) Refers to RDB-Bxxxxx-3/7 (single-turn or multi-turn) motors with absolute high-resolution Heidenhain EnDat feedback.

90 (295.3)



MP-Series Integrated Linear Stages

MP-Series Electric Cylinders

LDC-Series Linear Motors

Maximum Power Cable Length

Although motor power cables are available in standard lengths up to 90 m (295.3 ft) and the Kinetix 6000 power rail is available in sizes up to eight axes, to meet CE requirements and improve system performance the combined motor power length for all axes on the same DC bus must not exceed 160 m (525 ft) for 230V systems and 240 m (787 ft) for 460V systems.

MPAS-B (single-axis) or MPMA-B (multi-axis)(460V) Linear Stages

Absolute High-Res (1)

m (ft)

(1) Refers to MPMA-Bxxxx or MPAS-Bxxxx-V (multi-turn) integrated linear stages with absolute high-resolution feedback.

Incremental (2)

m (ft)

(2) Refers to MPMA-Bxxxx or MPAS-Bxxxx-A integrated linear stages with 5-micron resolution incremental magnetic linear encoder.

90 (295.3) 30 (98.4)

MPAR-B (460V) Electric Cylinders

AbsoluteHigh-Res (1)

m (ft)

(1) Refers to MPAR-A/Bxxxxxx-V/M (multi-turn) electric cylinders with absolute high-resolution feedback.

90 (295.3)

LDC-Series Linear Motors

Sin/Cos (1)

m (ft)

(1) Refers to LDC-Series linear motors with an external Sin/Cos or TTL encoder.

TTL (1)

m (ft)

30 (98.4) 30 (98.4)



Circuit Breaker/Fuse Specifications

While circuit breakers offer some convenience, there are limitations for their use. Circuit breakers do not handle high current inrush as well as fuses.

Make sure the selected components are properly coordinated and meet acceptable codes including any requirements for branch circuit protection. Evaluation of the short-circuit available current is critical and must be kept below the short-circuit current rating of the circuit breaker.

Use class CC, J, L, or R fuses, with current rating as indicated in the table below. The following fuse examples and Allen-Bradley circuit breakers are recommended for use with 2094-BCxx-Mxx-M IAM power modules when the Line Interface Module (LIM) is not used.

Contactor Ratings

This table provides the recommended contactor ratings for IAM power modules installed without a LIM module.

Input Transformer for Control Power

IMPORTANT LIM Modules (catalog numbers 2094-BLxxS and 2094-XL75S-Cx) provide branch circuit protection to the IAM power module. Follow all applicable NEC and local codes.

IAM Power Module Cat. No.

V AC Input Power Control Input Power DC Common Bus Fuse

BussmannFuse

Allen-Bradley Circuit BreakerBussmann Fuse

Allen-BradleyCircuit Breaker

Bussmann Fuse

Ferraz Shawmut FuseDisconnect Magnetic

Contactor

2094-BC01-MP5-MKTK-R-20 (20 A) 1492-SP3D300 140M-F8E-C32

FNQ-R-10 (10 A) 1492-SP2D060N/A A100P20-1

2094-BC01-M01-M

2094-BC02-M02-M KTK-R-30 (30 A) 1492-SP3D400 140M-F8E-C45 FWJ-40A A100P40-1

IAM Power Module Cat. No. Contactor

2094-BC01-MP5-M 100-C23x10 (AC coil)100-C23Zx10 (DC coil)2094-BC01-M01-M

2094-BC02-M02-M 100-C37x10 (AC coil)100-C37Zx10 (DC coil)

Attribute Value

Input volt-amperes 750VA

Input voltage 460V AC

Output voltage 120…240V AC



Power Dissipation Specifications

Use this table to size an enclosure and calculate required ventilation for your Kinetix 6200 drive system.

Power dissipation specifications are based on these calculations. For example:

2094-BC02-M02-M with 4.52 Adc (=20%) converter DC current and 10.3 Arms (=100%) inverter output current.

Converter loss (36 W) + Inverter loss (142 W) = 178 W total power dissipation.

Kinetix 6200 Modules (1)

(1) Power dissipation for the control module, catalog number 2094-SE02F-M00-S1, is included in the IAM and AM power module specifications.

Usage as % of Rated Power Output(watts)

20% 40% 60% 80% 100%

IAM (converter) module (2)

(2) Internal shunt power is not included in the calculations and must be added based on utilization.

2094-BC01-MP5-M18 21 25 29 34

2094-BC01-M01-M

2094-BC02-M02-M 36 44 54 64 75

IAM (inverter) module or AM module (2)

2094-BC01-MP5-M or 2094-BMP5-M 46 54 61 69 77

2094-BC01-M01-M or 2094-BM01-M 57 73 90 108 126

2094-BC02-M02-M or 2094-BM02-M 53 72 93 116 142

Shunt module

2094-BSP2 68 121 174 227 280



Kinetix 6200 Features and Indicators

These are the features and indicators for the Kinetix 6200 IAM and AM power modules and control modules.

IAM Power Module Features and Indicators (2094-BCxx-Mxx-M)

AM Power Module Features and Indicators (2094-BMxx-M)

1 2

DC-DC+

L3L2L1

CONT EN-CONT EN+

CTRL 2CTRL 1

1 2 1

2 3

4 5

6

WVU

MBRK -MBRK +

COM PWR

DBRK -DBRK +

1 2

3 4

1 2

3 4

5 6

1

4

5

2

3

6

7

9

8

IAM Power Module, Top View(2094-BC01-MP5-M module is shown)

IAM Power Module, Front View(2094-BC01-MP5-M module is shown)

Item Description

1 Control power (CPD) connector

2 DC bus/AC input power (IPD) connector

3 Contactor Enable (CED) connector

4 Motor cable shield clamp

5 Motor power (MP) connector

6 Motor/resistive brake (BC) connector

7 Node address switch

8 Power-applied indicator

9 Mounting screw

WVU

MBRK -MBRK +

COM PWR

DBRK -DBRK +

1 2

3 4

1 2

3 4

5 6

1 2

3

5

4

AM Power Module, Top View(2094-BMP5-M module is shown)

AM Power Module, Front View(2094-BMP5-M module is shown)

Item Description

1 Motor cable shield clamp

2 Motor power (MP) connector

3 Motor/resistive brake (BC) connector

4 Power-applied indicator

5 Mounting screw



Control Module Features and Indicators (SERCOS)

(1) The IOD (44-pin) connector requires the 2090-K6CK-D44M low-profile connector kit.

(2) The MF (15-pin) connector requires the 2090-K6CK-D15M low-profile connector kit.

2

4

6

5

3

2

1

12

14

13

62006200SAFE SPEED

7 8 9

10

11

15

Kinetix 6200Control Module, Top View

(2094-SE02F-M00-S1 module is shown)

Kinetix 6200Control Module, Front View

(2094-SE02F-M00-S1 module is shown)

Item Description

1 Guide pins (2x)

2 Captive screw

3 SERCOS communication rate and optical power switches

4 SERCOS transmit (Tx) connector

5 SERCOS receive (Rx) connector

Item Description

6 Four-character status display

7 PORT 1 status Indicator

8 Drive status indicator

9 Comm status indicator

10 DC bus status indicator

11 Safety lock status indicator

12 I/O, safety, and aux feedback (IOD) connector

13 Power module mounting screw access hole

14 Motor feedback (MF) connector

Item Description

15 Ethernet (PORT1) connectorKinetix 6200

Control Module, Bottom View(2094-SE02F-M00-S1 module is shown)



Kinetix 6200 Drive/Motor System Combinations

These tables provide the motor cable catalog numbers for Kinetix 6200 drive/motor combinations. Motor brake wires are in the power cable, so a separate brake cable is not required.

MP-Series (Bulletin MPL) Low Inertia Motor/Drive Combinations

MP-Series (Bulletin MPF) Food Grade Motor/Drive Combinations

MP-Series (Bulletin MPS) Stainless Steel Motor/Drive Combinations

Motor Cat. No. Feedback Type Cable Type Flying-lead Cable Cat. No.

MPL-B3xxx-M/S…MPL-B9xxx-M/SMulti-turn High-resolution Absolute orSingle-turn High-resolution Encoder Feedback

Feedback

2090-XXNFMF-Sxx (standard)2090-CFBM7DF-CDAFxx (continuous-flex)

MPL-B15xxx-V/EMPL-B2xxx-V/E 2090-XXNFMF-Sxx (standard)

2090-CFBM4DF-CDAFxx (continuous-flex)MPL-B15xxx-HMPL-B2xxx-H IncrementalFeedback

Motor Cat. No. AM (460V) Power Module Cable Type Flying-lead Cable Cat. No.

MPL-B1510V, MPL-B1520U, MPL-B1530U

2094-BMP5-M

Power

2090-XXNPMF-16Sxx (standard)2090-CPxM4DF-16AFxx (continuous-flex)MPL-B220T, MPL-B220T, MPL-B230P

MPL-B310P2090-XXNPMF-16Sxx (standard)2090-CPxM7DF-16AFxx (continuous-flex)MPL-B320P, MPL-B330P, and MPL-B4530F 2094-BM01-M

MPL-B420P and MPL-B430P 2094-BM02-M

MPL-B4530K, MPL-B4540F, MPL-B4560F, MPL-B520K, and MPL-B540D 2094-BM02-M 2090-XXNPMF-14Sxx (standard)

2090-CPxM7DF-14AFxx (continuous-flex)


MPF-Bxxxx-M/S Multi-turn High Resolution Absolute orSingle-turn High Resolution Encoder Feedback Feedback 2090-XXNFMF-Sxx (standard)

2090-CFBM7DF-CDAFxx (continuous-flex)


MPF-B310P 2094-BMP5-M

Power 2090-XXNPMF-16Sxx (standard)2090-CPxM7DF-16AFxx (continuous-flex)

MPF-B320P and MPF-B330P 2094-BM01-M

MPF-B430P2094-BM02-M

MPF-B4530K and MPF-B4540F


MPS-Bxxxx-M/S Multi-turn High Resolution Absolute orSingle-turn High Resolution Encoder Feedback Feedback 2090-XXNFMF-Sxx (standard)



MPS-B330P 2094-BM01-MPower 2090-XXNPMF-16Sxx (standard)

2090-CPxM4DF-16AFxx (continuous-flex)MPS-B4540F 2094-BM02-M



MP-Series Integrated Linear Stage/Drive Combinations

MP-Series Electric Cylinder/Drive Combinations

LDC-Series Linear Motor/Drive Combinations

Actuator Cat. No. Feedback Type Cable Type Flying-lead Cable Cat. No.

MPAS-Bxxxxx-V/A orMPMA-B

Multi-turn High Resolution AbsoluteEncoder Feedback Feedback 2090-XXNFMF-Sxx (standard)


Actuator Cat. No. AM (460V) Power Module Cable Type Flying-lead Cable Cat. No.

MPAS-Bxxxx1-V05SxA and MPAS-Bxxxx2-V20SxA

2094-BMP5-M Power 2090-XXNPMF-16Sxx (standard)2090-CPxM4DF-16AFxx (continuous-flex)MPAS-B8xxxF-ALMO2C and MPAS-B8xxxF-ALMS2C

MPAS-B9xxxL-ALMO2C and MPAS-B9xxxL-ALMS2C

Actuator Cat. No. Feedback Type Cable Type Flying-lead Cable Cat. No.

MPAR-Bxxxxx Multi-turn High Resolution AbsoluteEncoder Feedback Feedback 2090-XXNFMF-Sxx (standard)


Actuator Cat. No. AM (460V) Power Module Cable Type Flying-lead Cable Cat. No.

MPAR-B1xxxB and MPAR-B1xxxE

2094-BMP5-M Power 2090-XXNPMF-16Sxx (standard)2090-CPxM7DF-16AFxx (continuous-flex)MPAR-B2xxxC and MPAR-B2xxxF

MPAR-B3xxxE and MPAR-B3xxxH


LDC-Cxxxxxx-xxTx1 Sin/Cos or TTLEncoder Feedback Feedback 2090-XXNFMF-Sxx (standard)



LDC-C030100-DHT and LDC-C030200-EHT

2094-BM01-M

Power 2090-XXNPMF-16Sxx (standard)2090-CPxM7DF-16AFxx (continuous-flex)

LDC-C050100-DHT, LDC-C050200-EHT, and LDC-C050300-EHT

LDC-C075200-EHT and LDC-C075300-EHT

LDC-C100300-EHT

LDC-C030200-DHT

2094-BM02-M

LDC-C050200-DHT and LDC-C050300-DHT

LDC-C075200-DHT, LDC-C075300-DHT, and LDC-C075400-EHT

LDC-C100300-DHT, LDC-C100400-EHT, and LDC-C100600-EHT

LDC-C150400-EHT and LDC-C150600-EHT



Notes:


Date post:	27-Nov-2021
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Kinetix 6200 Modular Multi-axis Servo Drives

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