Kinetix 6000 Multi-Axis Servo Drive: Installation Manual

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-BMP5-S, -BM01-S, -BM02-S,

-BM03-S, -BM05-S
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)
Installation 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, Kinetix, and Rockwell Automation are registered trademarks of Rockwell Automation.
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
Install Your Kinetix 6000 Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Comply with European Union Directives . . . . . . . . . . . . . . 1-2
EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Low Voltage Directive. . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Kinetix 6000 System Component Overview. . . . . . . . . . . . . 1-4
Before Mounting Your System . . . . . . . . . . . . . . . . . . . . . . 1-7
Unpack Your Kinetix 6000 . . . . . . . . . . . . . . . . . . . . . . 1-7
System Mounting Requirements. . . . . . . . . . . . . . . . . . 1-10
Ventilation Requirements . . . . . . . . . . . . . . . . . . . . . . 1-11
Size an Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
Size a Transformer . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17
Circuit Breaker/Fuse Selection. . . . . . . . . . . . . . . . . . . 1-18
HF Bonding Your System. . . . . . . . . . . . . . . . . . . . . . . . . 1-19
Bonding Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19
Bonding Multiple Subpanels . . . . . . . . . . . . . . . . . . . . 1-21
Plan Your Panel Layout . . . . . . . . . . . . . . . . . . . . . . . . . . 1-21
Establish Noise Zones . . . . . . . . . . . . . . . . . . . . . . . . . 1-22
Cable Categories for the Kinetix 6000 . . . . . . . . . . . . . 1-29
Mounting Guidelines to Reduce Electrical Noise . . . . . 1-31
Bulletin 2094 Mounting Brackets . . . . . . . . . . . . . . . . . 1-35
Mount Your Kinetix 6000 Drive System. . . . . . . . . . . . . . . 1-37
Install 2094 Mounting Brackets . . . . . . . . . . . . . . . . . . 1-37
Mount Your Power Rail . . . . . . . . . . . . . . . . . . . . . . . 1-38
Mount Your Integrated Axis Module . . . . . . . . . . . . . . 1-40
Mount Your Axis Module(s) . . . . . . . . . . . . . . . . . . . . 1-43
Mount Your Shunt Module . . . . . . . . . . . . . . . . . . . . . 1-45
Mount Your Slot Filler Module(s) . . . . . . . . . . . . . . . . 1-46
Install 2094 Mounting Brackets . . . . . . . . . . . . . . . . . . 1-47
Mount Your Line Interface Module . . . . . . . . . . . . . . . 1-48
Mount Your External Shunt Resistor Kit . . . . . . . . . . . . 1-49
Replace Kinetix 6000 System Components . . . . . . . . . . 1-49
i Publication 2094-IN001G-EN-P — September 2005

ii Table of Contents
Chapter 2
Kinetix 6000 Connector Data Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Locate IAM Connectors and Indicators . . . . . . . . . . . . . . . . 2-2
Locate AM Connectors and Indicators . . . . . . . . . . . . . . . . . 2-3
IAM and AM Connector Pin-outs. . . . . . . . . . . . . . . . . . . . . 2-4
Integrated Axis Module/Axis Module Connectors . . . . . . 2-4
Safe-Off Connector Pin-out . . . . . . . . . . . . . . . . . . . . . . 2-4
I/O Connector Pin-out . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Motor Feedback Connector Pin-outs . . . . . . . . . . . . . . . 2-6
Auxiliary Feedback Connector Pin-outs . . . . . . . . . . . . . 2-8
IAM Input Connector Pin-outs . . . . . . . . . . . . . . . . . . . . 2-9
IAM and AM Motor Power and Brake Connector
Pin-outs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
Understand IAM/AM Signal Specifications . . . . . . . . . . . . . 2-11
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
SERCOS Connections . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
Contactor Enable Relay . . . . . . . . . . . . . . . . . . . . . . . . 2-14
Motor/Resistive Brake Relay . . . . . . . . . . . . . . . . . . . . 2-15
Control Power Input . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16
Understand Feedback Specifications . . . . . . . . . . . . . . . . . 2-17
Motor and Auxiliary Feedback Specifications . . . . . . . . 2-17
Locate SM Connectors and Indicators . . . . . . . . . . . . . . . . 2-19
Shunt Module Connectors . . . . . . . . . . . . . . . . . . . . . . 2-19
Shunt Module Connector Pin-outs . . . . . . . . . . . . . . . . 2-19
Locate LIM Connectors and Indicators. . . . . . . . . . . . . . . . 2-20
LIM Connector Pin-outs . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
Line Interface Module Connectors . . . . . . . . . . . . . . . . 2-22
I/O Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
Auxiliary Power Input Connector. . . . . . . . . . . . . . . . . 2-24
Control Power Output Connector . . . . . . . . . . . . . . . . 2-25
24V dc Brake Supply Connector . . . . . . . . . . . . . . . . . 2-25
VAC LINE Connector. . . . . . . . . . . . . . . . . . . . . . . . . . 2-26
VAC LOAD Connector. . . . . . . . . . . . . . . . . . . . . . . . . 2-27
Auxiliary Power Connector . . . . . . . . . . . . . . . . . . . . . 2-27
Understand LIM Signal Specifications . . . . . . . . . . . . . . . . 2-28
LIM I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-28
LIM Brake Power Supply (2094-AL09 and -BL02) . . . . . 2-35
LIM Control Power . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-36
Auxiliary Power Output . . . . . . . . . . . . . . . . . . . . . . . 2-37
Auxiliary Power Input . . . . . . . . . . . . . . . . . . . . . . . . . 2-37
Publication 2094-IN001G-EN-P — September 2005

Table of Contents iii
Chapter 3
Connect Your Kinetix 6000 Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Understand Basic Wiring Requirements . . . . . . . . . . . . . . . 3-1
Build Your Own Cables . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Route Power and Signal Wiring. . . . . . . . . . . . . . . . . . . 3-2
Determine Your Type of Input Power . . . . . . . . . . . . . . . . 3-3
Grounded Power Configurations . . . . . . . . . . . . . . . . . . 3-3
Ungrounded Power Configurations . . . . . . . . . . . . . . . . 3-5
DC Common Bus Configurations . . . . . . . . . . . . . . . . . . . . 3-6
Common Bus Fusing Requirements . . . . . . . . . . . . . . . . 3-7
Set the Ground Jumper in Ungrounded Power
Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Remove the IAM from the Power Rail . . . . . . . . . . . . . . 3-8
Set the Ground Jumper . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
Ground Your Kinetix 6000 . . . . . . . . . . . . . . . . . . . . . . . . 3-11
Ground Your System to the Subpanel . . . . . . . . . . . . . 3-11
Ground Multiple Subpanels. . . . . . . . . . . . . . . . . . . . . 3-12
Motor Power Cable Shield Termination . . . . . . . . . . . . 3-12
Power Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . 3-17
IAM Power Wiring Requirements. . . . . . . . . . . . . . . . . 3-17
IAM/AM Power Wiring Requirements . . . . . . . . . . . . . 3-18
LIM Power Wiring Requirements . . . . . . . . . . . . . . . . . 3-19
Shunt Module Power Wiring Requirements . . . . . . . . . 3-20
Connect Input Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
Connect the Braided Ground Strap . . . . . . . . . . . . . . . 3-22
Connect Input Power (IAM with LIM) . . . . . . . . . . . . . 3-22
Connect Input Power (IAM without LIM) . . . . . . . . . . . 3-29
Connect Input Power (Common Bus) . . . . . . . . . . . . . 3-31
Safe-Off Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33
Wire the Contactor Enable Connector . . . . . . . . . . . . . . . . 3-34
Connect Motor Power and Brakes . . . . . . . . . . . . . . . . . . 3-35
Understand Feedback and I/O Cable Connections . . . . . . 3-40
Motor Feedback Connector Pin-outs . . . . . . . . . . . . . . 3-41
Wire Feedback and I/O Connectors . . . . . . . . . . . . . . 3-44
Understand External Shunt Connections . . . . . . . . . . . . . . 3-48
Understand Resistive Brake Module Connections . . . . . . . 3-49
Connect Your SERCOS Fiber-Optic Cables . . . . . . . . . . . . 3-50
Chapter 4
Troubleshoot Status Indicators Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
General Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Troubleshoot IAM/AM Status LEDs . . . . . . . . . . . . . . . . . . . 4-7
Drive Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
Comm Status LED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
Bus Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
Troubleshoot SM Status LEDs . . . . . . . . . . . . . . . . . . . . . . . 4-9

iv Table of Contents
General Shunt Module Troubleshooting . . . . . . . . . . . . . 4-9

Bus Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
Temperature Fault LED . . . . . . . . . . . . . . . . . . . . . . . . 4-10
Shunt Fault LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
Troubleshoot LIM Status LEDs . . . . . . . . . . . . . . . . . . . . . 4-11
Troubleshoot RBM Status LEDs . . . . . . . . . . . . . . . . . . . . . 4-11
24V dc Status LED. . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
230V ac Auxiliary Power Status LED . . . . . . . . . . . . . . 4-12
Troubleshoot General System Problems . . . . . . . . . . . . . . 4-13
Appendix A
Specifications and Dimensions Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Power Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Integrated Axis Module (converter) 230V Power
Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Integrated Axis Module (converter) 460V Power
Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
Axis Module (inverter) 230V Power Specifications . . . . . A-4
Axis Module (inverter) 460V Power Specifications . . . . . A-5
Line Interface Module Power Specifications . . . . . . . . . . A-6
Shunt Module Specifications . . . . . . . . . . . . . . . . . . . . . A-7
Shunt Module (230V) System Specifications . . . . . . . . . . A-8
Shunt Module (460V) System Specifications . . . . . . . . . . A-9
Circuit Breaker/Fuse Specifications . . . . . . . . . . . . . . . A-11
Contactor Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-13
Input Transformer for Control Power . . . . . . . . . . . . . . A-13
Power Dissipation Specifications . . . . . . . . . . . . . . . . . A-14
General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . A-15
Environmental Specifications . . . . . . . . . . . . . . . . . . . . A-15
Maximum Feedback Cable Lengths . . . . . . . . . . . . . . . A-16
AC Line Filter Specifications . . . . . . . . . . . . . . . . . . . . . . . A-17
External Shunt Module Specifications . . . . . . . . . . . . . . . . A-18
External Passive Shunt Module Specifications . . . . . . . . A-18
External Active Shunt Module Specifications . . . . . . . . A-18
Resistive Brake Module Specifications . . . . . . . . . . . . . . . . A-19
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-19
Integrated Axis Module Dimensions. . . . . . . . . . . . . . . A-20
Axis Module Dimensions. . . . . . . . . . . . . . . . . . . . . . . A-22
Shunt Module Dimensions. . . . . . . . . . . . . . . . . . . . . . A-24
Slot Filler Module Dimensions . . . . . . . . . . . . . . . . . . . A-25
Power Rail Dimensions . . . . . . . . . . . . . . . . . . . . . . . . A-25
Line Interface Module Dimensions. . . . . . . . . . . . . . . . A-28
Mounting Bracket Dimensions. . . . . . . . . . . . . . . . . . . A-31

Table of Contents v
Appendix B
Interconnect Diagrams Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
Kinetix 6000 Interconnect Diagram Notes . . . . . . . . . . . . . . B-1
Power Interconnect Diagrams . . . . . . . . . . . . . . . . . . . . . . B-3
DC Common Bus Interconnect Diagrams . . . . . . . . . . . . . . B-8
Shunt Module Interconnect Diagrams . . . . . . . . . . . . . . . . B-13
1336 Active Shunt Input Fuse Specifications. . . . . . . . . B-14
1336 Active Shunt Fault Relay Specifications . . . . . . . . B-14
Resistive Brake Module Interconnect Diagrams . . . . . . . . . B-16
AM/Motor Interconnect Diagrams. . . . . . . . . . . . . . . . . . . B-17
Controlling a Brake Example . . . . . . . . . . . . . . . . . . . . . . B-25
System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . B-27
IAM/AM Inverter Block Diagram . . . . . . . . . . . . . . . . . B-27
IAM Converter Block Diagram. . . . . . . . . . . . . . . . . . . B-28
Safe-Off Feature Block Diagram . . . . . . . . . . . . . . . . . B-29
SM Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . B-29
LIM Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . B-30
RBM Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . B-35
Appendix C
Catalog Numbers and Accessories Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1
Integrated Axis Modules. . . . . . . . . . . . . . . . . . . . . . . .. . . C-2
Axis Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . C-2
Shunt Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . C-3
Power Rails . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . C-3
Power Rail Slot Filler . . . . . . . . . . . . . . . . . . . . . . . . . .. . . C-3
RSLogix 5000 Software . . . . . . . . . . . . . . . . . . . . . . . . .. . . C-3
Line Interface Modules. . . . . . . . . . . . . . . . . . . . . . . . .. . . C-4
Resistive Brake Modules. . . . . . . . . . . . . . . . . . . . . . . .. . . C-4
AC Line Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . C-4
External Shunt Resistor Kits . . . . . . . . . . . . . . . . . . . . .. . . C-5
Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . C-5
Motor Power Cables . . . . . . . . . . . . . . . . . . . . . . . .. . . C-5
Motor Feedback Cables. . . . . . . . . . . . . . . . . . . . . .. . . C-6
Motor Brake Cable . . . . . . . . . . . . . . . . . . . . . . . . .. . . C-6
RBM to Drive Interface Cable . . . . . . . . . . . . . . . . .. . . C-6
SERCOS Interface Fiber-Optic Cables. . . . . . . . . . . .. . . C-7
Connector Kits and Miscellaneous Accessories . . . . . . .. . . C-7
Low Profile Connector Kits . . . . . . . . . . . . . . . . . . .. . . C-7
Mounting Bracket . . . . . . . . . . . . . . . . . . . . . . . . . .. . . C-7
Panel-Mounted Breakout Boards, Cables, and Kits . .. . . C-8
Drive End Connector Kits . . . . . . . . . . . . . . . . . . . .. . . C-8
Motor End Connector Kits. . . . . . . . . . . . . . . . . . . .. . . C-9
Module Connector Sets . . . . . . . . . . . . . . . . . . . . . .. . C-10

vi 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 Use this manual for designing, installing, and wiring your Kinetix 6000
Multi-Axis Servo Drive. The manual is intended for engineers or
Manual technicians directly involved in the installation and wiring of the
Kinetix 6000.
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 mounting, wiring, and connecting
procedures for the Kinetix 6000 and standard Rockwell Automation/
Allen-Bradley motors recommended for use with the Kinetix 6000.
For power up procedures, troubleshooting tables, and system

integration with the ControlLogix and SoftLogix module/PCI card (see
table below), refer to the Kinetix 6000 Multi-Axis Servo Drives
Integration Manual (publication 2094-IN002). For an electronic copy,
visit the Literature Library website (www.rockwellautomation.com/
literature). For hardcopy publications, contact your local Allen-Bradley
distributor or Rockwell Automation sales office.
ControlLogix Motion
Interface Module SoftLogix PCI Card
SERCOS interface 1756-MxxSE 1784-PM16SE
1 Publication 2094-IN001G-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 mounting information for the Kinetix
Chapter 1 Install Your Kinetix 6000 6000 drive components.
Chapter 2 Kinetix 6000 Connector Data Provides IAM, AM, SM, and LIM connector
locations, signal descriptions, and specifications.
Chapter 3 Connect Your Kinetix 6000 Provides connection and wiring information for
the Kinetix 6000 drive components.
Provides troubleshooting tables that define the
Chapter 4 Troubleshoot Status Indicators Kinetix 6000 status LED error codes.
Provides mounting dimensions, and power,
Appendix A Specifications and Dimensions weight, environmental, and functional
specifications for the Kinetix 6000.
Provides power and drive/motor interconnect
Appendix B Interconnect Diagrams diagrams for the Kinetix 6000. Also provides
Kinetix 6000 system component block diagrams.
Catalog Numbers and Provides catalog numbers and descriptions of the
Appendix C Accessories Kinetix 6000 and related products.
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 Publication Number

Information on configuring and troubleshooting your Kinetix 6000 Kinetix 6000 Integration Manual 2094-IN002
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 Kinetix Motion Control Selection Guide GMC-SG001
and motor accessories
Motion Analyzer CD
Drive and motor sizing with application analysis software (v4.1 or above) PST-SG003
Kinetix 6000 user documentation and CAD files Kinetix 6000 User Documentation and CAD Files CD 2094-CL001
More detailed information on the use of ControlLogix motion ControlLogix Motion Module Programming Manual 1756-RM086
features and application examples
ControlLogix SERCOS interface Module Installation
ControlLogix SERCOS interface module installation instructions Instructions 1756-IN572
SoftLogix SERCOS interface PCI card installation instructions 16 Axis PCI SERCOS interface Card Installation 1784-IN041
Instructions
The instructions needed to program a motion application Logix5000 Controllers Motion Instructions 1756-RM007
Reference Manual
Information on configuring and troubleshooting your ControlLogix
SERCOS and analog motion modules Logix5000 Motion Modules User Manual 1756-UM006
Information on configuring and troubleshooting your SoftLogix PCI SoftLogix Motion Card Setup and Configuration 1784-UM003
card Manual
Information on proper handling, installing, testing, and Fiber-Optic Cable Installation and Handling
troubleshooting fiber-optic cables Instructions 2090-IN010
Information on the installation and wiring of Bulletin 2090 Resistive

Brake Modules Resistive Brake Module Installation Instructions 2090-IN009
Information, examples, and techniques designed to minimize system System Design for Control of Electrical Noise GMC-RM001
failures caused by electrical noise Reference Manual
For declarations of conformity (DoC) currently available from www.ab.com/
Rockwell 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 conventions starting below 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
Install Your Kinetix 6000
Chapter Objectives This chapter provides system installation guidelines and procedures
for mounting your Kinetix 6000. This chapter covers the following
topics:
• Comply with European Union Directives

• Kinetix 6000 System Component Overview
• Before Mounting Your System
• HF Bonding Your System
• Plan Your Panel Layout
• Mount Your Kinetix 6000 Drive System
ATTENTION The following information is a guideline for proper

installation. The National Electrical Code and any
other governing regional or local codes overrule this
information. The Allen-Bradley Company cannot
assume responsibility for the compliance or the
noncompliance with any code, national, local or
otherwise, for the proper installation of this system
or associated equipment. If you ignore codes during
installation, hazard of personal injury and/or
equipment damage exists.
SHOCK HAZARD 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.

1-2 Install Your Kinetix 6000
Comply with European If this product is installed within the European Union or EEC regions
and has the CE mark, the following regulations apply.
Union Directives
Meeting CE requires a grounded system, and the
ATTENTION
method of grounding the AC line filter and drive
must match. Failure to do this renders the filter
ineffective and may cause damage to the filter. For
grounding examples, refer to Grounded Power
Configurations on page 3-3.
For more information on the concept of electrical noise reduction,

refer to System Design for Control of Electrical Noise Reference Manual
(publication GMC-RM001).
EMC Directive
This unit is tested to meet Council Directive 89/336/EEC

Electromagnetic Compatibility (EMC) using the following standards, in
whole or in part:
• EN 50081-2 EMC - Emission Standard, Part 2 - Industrial

Environment
• EN 50082-2 EMC - Immunity Standard, Part 2 - Industrial
Environment
• EN 61800-3 - Adjustable Speed Electrical Power Drive Systems,
Part 3 - EMC Product Standard including specific test methods
The product described in this manual is intended for use in an

industrial environment.
CE Requirements (IAM without LIM)
To meet CE requirements when your Kinetix 6000 system does not

include the Line Interface Module, the following requirements apply:
• Install an AC line filter (2090-XXLF-xxxx) as close to the IAM (230

or 460V) as possible (refer to Appendix C for available AC line
filters).
• Use 2090 series motor power cables or use connector kits and
terminate the cable shields to the chassis clamp provided (refer to
Chapter 3 for wiring instructions and Appendix C for motor power
connector kit catalog numbers).

Install Your Kinetix 6000 1-3
• Combined motor power or feedback cable length for all axes on

the same DC bus must not exceed 240 m (787 ft) with 460V
systems or 160 m (525 ft) with 230V systems. Drive-to-motor
power or feedback cables must not exceed 90 m (295.5 ft).
• Use 2090 series motor feedback cables or use connector kits and
terminate the feedback shield as shown in Chapter 3 (refer to
Chapter 3 for wiring instructions and Appendix C for motor
feedback connector kit catalog numbers). Drive-to-motor feedback
cables must not exceed 90 m (295.5 ft).
• Install the Kinetix 6000 system inside an enclosure. Run input
power wiring in conduit (grounded to the enclosure) outside of
the enclosure. Separate signal and power cables as shown in Plan
Your Panel Layout on page 1-21.
CE Requirements (IAM with LIM)
To meet CE requirements when your Kinetix 6000 system includes the

Line Interface Module, follow all the requirements as stated in CE
Requirements (IAM without LIM) and these additional requirements as
they apply to the AC line filter:
• Install the Line Interface Module (2094-AL09 or -BL02) as close to

the IAM as possible.
• Install the Line Interface Module (2094-AL75S, -BL75S or
-XL75S-Cx) with line filter (2090-XXLF-xxxx) as close to the IAM
(230 or 460V) as possible (refer to Appendix C for available AC
line filters).
When the Line Interface Module (2094-AL75S, -BL75S or
-XL75S-Cx) supports two IAMs, each IAM requires an AC line filter
installed as close to the IAM as possible.
Low Voltage Directive
These units are tested to meet Council Directive 73/23/EEC Low

Voltage Directive. The EN 60204-1 Safety of Machinery-Electrical
Equipment of Machines, Part 1-Specification for General Requirements
standard applies in whole or in part. Additionally, the standard
EN 50178 Electronic Equipment for use in Power Installations applies
in whole or in part.
Refer to Appendix B for interconnect information.

Kinetix 6000 System This section provides an overview of the Kinetix 6000 system
components and a typical installation.
Component Overview
IMPORTANT Acronyms for the Kinetix 6000 components, as
described in the table below, are used throughout
this manual.
Kinetix 6000 Catalog Numbers Description

Component
The Power Rail (PR) consists of copper bus bars and a circuit board with connections for each module.
Power Rail 2094-PRx The Power Rail provides power and control signals from the converter section to adjacent inverters. The
IAM, AM, SM, and PRF mount to the Power Rail.
The Power Rail Slot Filler (PRF) is used when one or more slots on the power rail are empty after all the
Power Rail Slot 2094-PRF power rail components are installed (see Power Rail above). One PRF is required for each empty slot
Filler (refer to Attention statement on page 1-5).
The Integrated Axis Module (IAM) with Safe-Off feature is available with 460V ac input power and
2094-BCxx-Mxx-S 1 contains an inverter and converter.
Integrated Axis
Module The Integrated Axis Module (IAM) is available with 230V and 460V ac input power and contains an
2094-xCxx-Mxx
inverter and converter.
The Axis Module (AM) with Safe-Off feature is a shared DC bus inverter (460V). The AM must be used
2094-BMxx-S 1 with an IAM.
Axis Module
2094-xMxx The Axis Module (AM) is a shared DC bus inverter (230V and 460V). The AM must be used with an IAM.
Line Interface 2094-xLxx The Line Interface Module (LIM) contains the circuit breakers, AC line filter (2094-AL09 and -BL02 only),
Module 2094-xLxxS power supplies, and safety contactor required for Kinetix 6000 operation. This module does not mount to
2094-XL75S-Cx the power rail. Individual components can be purchased separately in place of the LIM.
The Kinetix 6000 shunt module (SM) mounts to the power rail and provides additional shunting
Shunt Module 2094-BSP2 capability in regenerative applications.
ControlLogix/ 1756-MxxSE module The SERCOS interface module/PCI card serves as a link between the ControlLogix/SoftLogix platform
SoftLogix Platforms 1784-PM16SE PCI card and Kinetix 6000 system. The communication link uses the IEC 61491 SErial Real-time COmmunication
System (SERCOS) protocol over a fiber-optic cable.
RSLogix 5000 RSLogix 5000 provides support for programming, commissioning, and maintaining the Logix family of
software 9324-RLD300ENE controllers.
MP-Series, 1326AB, The MP-Series (Low Inertia, Integrated Gear, Food Grade, and Stainless Steel) 230 and 460V motors;
Servo Motors TL-Series, F-, H-, N-, and TL-Series motors; 1326AB (M2L/S2L) and 1326AB (resolver) motors; F-, H-, N-, and Y-Series motors are
Y-Series available for use with the Kinetix 6000.
Motor power, feedback, and brake cables include integral molded, bayonet style, quick connect/
quick-release connectors at the motor. Power and brake cables have flying leads on the drive end and
Motor Power, Feedback, straight connectors that connect to servo motors. Standard feedback cables have angled connectors
and Brake cables (45º) on the drive end and straight connectors that connect to servo motors. Optional feedback cables
Cables have a straight connector on the motor end and flying leads that wire to a low-profile connector on the
drive end.
SERCOS fiber-optic cables are available in enclosure only, PVC, nylon, and glass with connectors at both
Fiber-Optic cables ends.
AC Line Filters 2090-XXLF-xxxx The 2090-XXLF-xxxx three-phase AC line filters are available for 230V and 460V systems.
1394-SRxxxx The Bulletin 1394 external passive shunt modules are available when the IAM/AM internal shunt and
External Shunt power rail mounted shunt module (2094-BSP2) capability is exceeded.
Modules The Bulletin 1336 external active shunt modules are available when the internal shunt resistor (IAM/
1336-MOD-Kxxxx AM) capability is exceeded.
The Resistive Brake Module (RBM) includes a safety contactor for use in a control circuit. Contactors and
Resistive Brake 2090-XBxx-xx resistors reside in this module such that the motor leads can be disconnected from the drive with the
Module permanent magnet motor brought to an immediate stop. This module does not mount to the power rail.
1
Refer to the Kinetix Safe-Off Feature Safety Reference Manual (publication GMC-RM002) for more information.
Note: Refer to Appendix C for a complete list of catalog numbers for the Kinetix 6000 components listed above.

Typical Kinetix 6000 system installations include the three-phase AC

configurations as shown in the figure below and DC common bus
configurations as shown in Figure 1.2.
SHOCK HAZARD To avoid personal injury due to electrical shock,

place a Slot Filler module (catalog number 2094-PRF)
in any empty slot on the power rail.
Any power rail connector without a module installed
will disable the Kinetix 6000, however control power
is still present.
Figure 1.1
Typical Three-Phase AC System Installation
ControlLogix Controller Programming Network

Workstation with RSLogix 5000
1756-MxxSE SERCOS interface Module
SERCOS interfaceTM
CP OK
RBM I/O
ControlLogix Chassis
Tx (rear)
Rx (front)
Resistive Resistive
Brake Brake
Kinetix 6000 Multi-Axis Servo Drive Modules Modules
(optional (optional
components) components)
SERCOS fiber-optic ring
AC Line
Filter
Three-Phase Shunt Module
Input Power (optional
component)
MAIN VAC
Slot Filler
Integrated Module
Line Interface Axis
(required
Module Module
to fill any
(optional unused slot)
component)
Power Rail
To Input Sensors
and Control String Axis Modules (5)
Motor Feedback Motor Power

Motor Feedback Motor Power
Motor Motor Feedback Motor Power
MP-Series, 1326AB (M2L/S2L),
TL-Series, F-, H-, N-, and Y-Series Motors Motor
(MP-Series Low Inertia motors shown)
Motor
Refer to Appendix B for System Block Diagrams of the IAM, SM, LIM,
and RBM.

In the Kinetix 6000 configuration below, the Leader IAM is connected

to the Follower IAM via the DC Common Bus. When planning your
panel layout, you must calculate the total bus capacitance of your DC
common bus system to ensure that the Leader IAM is sized sufficiently
to pre-charge the entire system. Refer to the Kinetix 6000 Integration
Manual (publication 2094-IN002) when making this calculation.
IMPORTANT If total bus capacitance of your system exceeds the

Leader IAM pre-charge rating, the IAM
seven-segment LED will display error code E90
(pre-charge timeout fault) if input power is applied.
To correct this condition, you must replace the
Leader IAM with a larger module or decrease the
total bus capacitance by removing axis modules.
Figure 1.2
Typical DC Common Bus System Installation
ControlLogix Controller Programming Network
1756-M16SE SERCOS interface Module
SERCOS interfaceTM
CP OK
Workstation with RSLogix 5000
Tx (rear)
Rx (front)
AC Line
Filter SERCOS fiber-optic ring
Three-Phase Shunt Module
Input Power (optional
component)
MAIN VAC
Kinetix 6000
Line Interface Leader IAM Slot Filler
Module (6 axis system) Module
(optional (required
component) to fill any
unused slot)
Power Rail
Axis Modules (5)
DC Common Bus
SERCOS Fiber Optic Ring
Kinetix 6000
Follower IAM Slot Filler
(7 axis system) Module
(required
to fill any
unused slot)
Power Rail
Axis Modules (6)
Note: Motors and other details common to both three-phase AC and DC Common Bus configurations are removed.

Before Mounting Your Before you mount your Kinetix 6000 system make sure you
understand the following:
System
• Unpack Your Kinetix 6000
• System Mounting Requirements
• Ventilation Requirements
• Size an Enclosure
• Size a Transformer
• Circuit Breaker/Fuse Selection
Unpack Your Kinetix 6000
Remove all packing material, wedges, and braces from within and
around the components. After unpacking, check the item(s) name
plate catalog number against the purchase order.
Integrated Axis Module Box Contents
Each Integrated Axis Module ships with the following:
• One Integrated Axis Module (IAM)

• Wiring plugs for Main VAC input power (IPD), Control VAC input
power (CPD), contactor enable relay (CED), motor power (MP),
and motor/resistive brake power (BC)
• Wiring plug header (2090-XNSS-WP) for safe-off (SO) connector
and motion allowed jumper (2090-XNSS-MA)
• One CD with documentation and CAD diagrams for panel layout
• One installation manual (publication 2094-IN001)
Note: Motor and auxiliary feedback and I/O connectors are not
provided. Refer to Appendix C for connector kit catalog
numbers.

Axis Module Box Contents
Each Axis Module ships with the following:
• One Axis Module (AM)

• Wiring plugs for motor power (MP) and motor/resistive brake
power (BC)
• Wiring plug header (2090-XNSS-WP) for safe-off (SO) connector
and motion allowed jumper (2090-XNSS-MA)
• One installation sheet (publication 2094-IN004)
Note: Motor and auxiliary feedback and I/O connectors are not
provided. Refer to Appendix C for connector kit catalog
numbers.
Power Rail Box Contents
Each Power Rail ships with the following:
• One Power Rail (PR)

• One braided ground strap, 100 mm (3.9 in.) in length
• Protective boots covering the connector pins
IMPORTANT To avoid damage to Power Rail during

installation, do not remove the protective boots
until modules are ready for mounting.
Shunt Module Box Contents
Each Shunt Module ships with the following:
• One Shunt Module (SM)

• Wiring plug for an external shunt resistor (RC)
• Wiring plug for the thermal switch (TS)

Line Interface Module Box Contents
Each Line Interface Module ships with the following:
• One Line Interface Module (LIM)

• Wiring plugs for 2094-xL75S and -XL75S include: I/O (IOL), VAC
line (IPL), VAC load (OPL), Control power (CPL), 24V Brake/IO
power (P1L), Auxiliary 230V Output (P2L), and Auxiliary 230V
Input (APL)
• Wiring plugs for 2094-xLxx include: VAC line (IPL), VAC load
(OPL), Control power (CPL), 24V Brake/IO power (PSL)
Note: The I/O connector is not provided. Refer to Appendix C for
connector kit catalog numbers.
Slot Filler Module Box Contents
Each Slot Filler Module ships with the following:
• One Slot Filler Module


System Mounting Requirements
There are several things that you need to take into account when
preparing to mount the Kinetix 6000:
• The Kinetix 6000 must be enclosed in a grounded conductive

enclosure offering protection as defined in standard EN 60529
(IEC 529) to IP55 such that they are not accessible to an operator
or unskilled person, in order to comply with UL and CE
requirements. A NEMA 4X enclosure exceeds these requirements
providing protection to IP66.
• The ambient temperature of the enclosure in which you install the
Kinetix 6000 must not exceed 50° C (122° F).
• The panel you install inside the enclosure for mounting your
system components must be on a flat, rigid, vertical surface that
won’t be subjected to shock, vibration, moisture, oil mist, dust, or
corrosive vapors.
• You need to maintain minimum clearances (refer to figures 1.3
through 1.6) for proper airflow, easy module access, and proper
cable bend radius.
• The Kinetix 6000 can operate at elevations to 1000 m (3300 ft)
without derating, however, the continuous current rating must be
de-rated by 3% for each additional 300 m (1000 ft) up to 3000 m
(10,000 ft). Consult your local Allen-Bradley representative prior to
operating at over 3000 m (10,000 ft).
ATTENTION
Plan the installation of your system so that you can
perform all cutting, drilling, tapping, and welding
with the system removed from the enclosure.
Because the system is of the open type construction,
be careful to keep any metal debris from falling into
it. Metal debris or other foreign matter can become
lodged in the circuitry, which can result in damage to
components.
Refer to Appendix A for mounting dimensions, power dissipation, and

environmental specifications for the Kinetix 6000.

Ventilation Requirements
This section provides information to assist you in sizing your cabinet

and positioning your Kinetix 6000 system components. Refer to
figures 1.3 and 1.4 for minimum clearance requirements for
components mounted on the power rail.
Figure 1.3
Minimum Clearance Requirements
IAM (2094-AC05, -AC09, -BC01, -BC02)
AM (2094-AMP5, -AM01, -AM02, -BMP5, -BM01, -BM02)
SM (2094-BSP2)
50.8 mm (2.0 in.) clearance DO NOT mount Kinetix 6000 system on its side.
for airflow and installation
Integrated Axis Module (IAM)

(2094-AC05-Mxx is shown
mounted on power rail)
Clearance left of Clearance right of

Module is not required 1 Module is not required 1
Minimum cabinet depth for:

IAM (230V) = 200 mm (7.9 in.)
IAM (460V) = 272 mm (10.7 in.)
Power Rail 50.8 mm (2.0 in.) clearance

2094-PRSx is shown for airflow and installation
1 The power rail (slim), catalog number 2094-PRSx, does not extend left or right of the first or last module
(respectively). When using power rail (catalog number 2094-PRx) the power rail extends approximately 25.4 mm
(1.0 in.) left of the IAM and right of the last module mounted on the rail.
IMPORTANT If the cabinet is ventilated, use filtered or

conditioned air to prevent the accumulation of dust
and dirt on electronic components. The air should be
free of oil, corrosives, or electrically conductive
contaminates.
IMPORTANT Although clearance left and right of power rail is not

necessary for ventilation, additional clearance is
required when mounted adjacent to noise sensitive
equipment or clean wireways. Refer to Plan Your
Panel Layout, beginning on page 1-21 for examples.
Refer to Appendix A for Kinetix 6000 power dissipation specifications.

Figure 1.4
IAM (2094-AC16, -AC32, -BC04, -BC07)
AM (2094-AM03, -AM05, -BM03, -BM05)
305 mm (12.0 in.) clearance DO NOT mount Kinetix 6000 system on its side.
Integrated Axis Module (IAM)

(2094-AC16-Mxx is shown
mounted on power rail))

Module is not required 1 Module is not required 1
IAM (230V) = 200 mm (7.9 in.)
IAM (460V) = 272 mm (10.7 in.)
Power Rail
2094-PRSx is shown
50.8 mm (2.0 in.) clearance

1 The power rail (slim), catalog number 2094-PRSx, does not extend left or right of the first or last module
(respectively). When using power rail (catalog number 2094-PRx) the power rail extends approximately 25.4 mm
(1.0 in.) left of the IAM and right of the last module mounted on the rail.

contaminates.
IMPORTANT Although clearance left and right of power rail is not

necessary for ventilation, additional clearance is
required when mounted adjacent to noise sensitive
equipment or clean wireways. Refer to Plan Your
Panel Layout, beginning on page 1-21 for examples.

Refer to figures 1.5 and 1.6 for minimum clearance requirements of

the Line Interface Module (LIM) mounted inside a cabinet.
Note: The LIM is not mounted on the Kinetix 6000 power rail.
Figure 1.5
LIM (2094-AL75S, -BL75S, and -XL75S-Cx)

for airflow and installation DO NOT mount LIM on its side.
Line Interface Module (LIM)

(2094-AL75S is shown)
MAIN VAC
MAIN VAC
Module is not required Module is not required

LIM (230V) = 200 mm (7.9 in.)
LIM (460V) = 250 mm (9.8 in.)


contaminates.

Figure 1.6
LIM (2094-AL09 and -BL02)
50.8 mm (2.0 in.) clearance DO NOT mount LIM on its side.


(2094-AL09 is shown)
50.8 mm (2.0 in.) 50.8 mm (2.0 in.)

clearance for airflow clearance for airflow
and installation and installation


LIM (230V) = 200 mm (7.9 in.)
LIM (460V) = 300 mm (11.8 in.)

contaminates.

Size an Enclosure
To assist you in sizing an enclosure, the following example is

provided. The example consists of:
• 6-axis Kinetix 6000 servo drive system

• Line Interface Module (LIM)
• ControlLogix chassis and modules
Size the Kinetix 6000 servo drive and LIM and use the results to
predict the amount of heat dissipated into the enclosure. You will also
need heat dissipation data from other equipment inside the enclosure
(such as ControlLogix). Once the total amount of heat dissipation (in
watts) is known, the minimum enclosure size can be calculated.
Heat dissipation for the Kinetix 6000 example system is shown in the
table below.
Heat Dissipation 1
Enclosure Component Description Loading 1 watts
Integrated Axis Module (IAM), 6 kW (converter section) 20% 33

2094-AC09-M02
200/230V 15A (inverter section) 40% 73
2094-AM02 Axis Module (AM), 200/230V, 15A 60% 82
2094-AL09 Line Interface Module (LIM), 200/230V, 6 kW, 6A; 24V dc 3A 100% 72
2094-PR6 Power Rail, 230V, 6 axis N/A 0
2090-XB33-32 Resistive Brake Module, 33A, 32 ohms N/A 30
Total Kinetix 6000 wattage 572
1 To determine heat dissipation specifications for the Kinetix 6000 components, refer to Power Dissipation
Specifications on page A-14.

Heat dissipation for the ControlLogix system is shown in the table

below.
Backplane Power Heat Dissipation 1

Enclosure Component Description
Load 1 watts watts
1756-M08SE 8 Axis SERCOS interface module 3.2 0
1756-L55M12 5555 ControlLogix Processor 4.5 0
1756-IB16D 16 Point Input module 0.84 5.8
1756-OB16D 16 Point Output module 4.64 3.3
1756-ENBT EtherNet Communications module 4.0 0
Backplane total 17.18 2 N/A
1756-PB72 24V dc ControlLogix Power Supply N/A 25 2
1756-A7 7-Slot Mounting Chassis N/A N/A
Total ControlLogix wattage 34.1
1
For ControlLogix module specifications, refer to the ControlLogix Selection Guide (publication 1756-SG001).
2 Real power heat dissipation is determined by applying the backplane power load (17.18W) to the graph in Figure
1.7.
Figure 1.7
ControlLogix Real Power
75
1756-P B72 Backplane 60
1756-P B75 Power Load 45
dc (watts) 30
15
0
0 20 40 60 80 100
Real Power (watts)

Note: For backplane power loading requirements for other ControlLogix power supplies, refer to the ControlLogix
Selection Guide (publication 1756-SG001).
In this example, the amount of power dissipated inside the cabinet is

the sum of the Kinetix 6000 value (572W) and the ControlLogix value
(34W) for a total of 606W.
With no active method of heat dissipation (such as fans or air

conditioning) either of the following approximate equations can be
used:
Metric Standard English
0.38Q 4.08Q
A = ------------------------ A = ----------------
1.8T – 1.1 T – 1.1
Where T is temperature difference between Where T is temperature difference between

inside air and outside ambient (°C), Q is heat inside air and outside ambient (°F), Q is heat
generated in enclosure (Watts), and A is generated in enclosure (Watts), and A is
enclosure surface area (m2). The exterior surface enclosure surface area (ft²). The exterior surface
of all six sides of an enclosure is calculated as of all six sides of an enclosure is calculated as
A = 2dw + 2dh + 2wh A = (2dw + 2dh + 2wh) / 144
Where d (depth), w (width), and h (height) are in Where d (depth), w (width), and h (height) are in
meters. inches.

The maximum ambient rating of the Kinetix 6000 is 50° C (122° F) and
if the maximum environmental temperature is 30° C (86° F) then
Q=606 and T=20 in the equation below.
0.38 ( 606 )
A = -------------------------------- ≈ 6.59m 2
1.8 ( 20 ) – 1.1
In this example, the enclosure must have an exterior surface of 6.59

meters2.
Note: If any portion of the enclosure is not able to transfer heat, it

should not be included in the calculation.
Since the minimum cabinet depth to house the 230V drive (selected
for this example) is 200 mm (7.9 in.), then the cabinet needs to be
approximately 2100 mm (high) x 1250 mm (wide) x 200 mm (deep).
2 x (0.2 x 1.25) + 2 x (0.2 x 2.1) + 2 x (1.25 x 2.1) = 6.59m2

Note: Because this cabinet size is considerably larger than what is
necessary to house the system components, it may be more
efficient to provide a means of cooling in a smaller cabinet.
Contact your cabinet manufacturer for options available to cool your

cabinet.
Size a Transformer
The Kinetix 6000 does not require an isolation transformer for

three-phase input power. However, a transformer may be required to
match the voltage requirements of the controller to the available
service. To size a transformer for the main AC power inputs, refer to
the Continuous Power Output to Bus specification on pages A-2, A-3
and Input Transformer for Control Power specifications on page A-13.
IMPORTANT If using an autotransformer, ensure that the phase to

neutral/ground voltages do not exceed the input
voltage ratings of the drive.
IMPORTANT Use a form factor of 1.5 for 3-phase power (where

form factor is used to compensate for transformer,
drive module and motor losses, and to account for
utilization in the intermittent operating area of the
torque speed curve).
Example: Sizing a transformer to the voltage requirements of a

2094-AC05-M01 Integrated Axis Module:
2094-AC05-M01 = 3 kW continuous x 1.5 = 4.5 KVA transformer

Circuit Breaker/Fuse Selection
This section describes the fuse and circuit breaker requirements for
your Kinetix 6000 system.
The Kinetix 6000 utilizes internal short circuit output protection and is
suitable for use on a circuit capable of delivering up to 100,000
amperes, when protected by class CC, J, L, and R fuses. Circuit
breakers with adequate widthstand and interrupt ratings, as defined in
NEC 2002, article 110.9 and 110.10, are also allowed.
The 140M product may be another acceptable means of protection

with the Kinetix 6000. As with fuses and circuit breakers, the you must
ensure that the selected components are properly coordinated and
meet applicable codes. When applying the 140M product, evaluation
of the short circuit available current is critical and must be kept below
the allowed short circuit rating of the 140M. As long as you do this
review, and the conditions for use are met, the 140M is appropriate
for use with the Kinetix 6000 drive.
The Line Interface Modules (2094-AL09 and -BL02) contain

supplementary protection devices. When the LIM is used, protection
on the line side of the LIM with a maximum let through current of
5000 amperes is required. Fuses for the LIM must be class J or CC
only.
Overcurrent protection must be adequately coordinated per NEC

2002, article 240. Refer to Circuit Breaker/Fuse Specifications on page
A-11 for recommended circuit breakers.
Size Fuses
The Kinetix 6000 is listed by Underwriters Laboratories, Inc. with fuses

sized (FLA), according to UL 508C. Refer to Circuit Breaker/Fuse
Specifications on page A-11 for recommended fuses.
In most cases, fuses selected to match the drive input current rating
will meet the NEC requirements and provide the full drive capabilities.
Dual element, time delay (slow acting) fuses should be used to avoid
nuisance trips during the inrush current of power initialization. Refer
to Power Specifications on page A-2 for input current and inrush
current specifications for your IAM.

HF Bonding Your System Bonding is the practice of connecting metal chassis, assemblies,
frames, shields and enclosures to reduce the effects of electromagnetic
interference (EMI). For more information on the concept of
high-frequency (HF) bonding, the ground plane principle, and
electrical noise reduction, refer to System Design for Control of
Electrical Noise Reference Manual (publication GMC-RM001).
Bonding Modules
Unless specified, most paints are not conductive and they act as
insulators. To achieve a good bond between power rail and the
subpanel, surfaces need to be paint-free or plated. Bonding metal
surfaces creates a low-impedance return path for high-frequency
energy.
IMPORTANT To improve the bond between the power rail and

subpanel, construct your subpanel out of zinc plated
(paint-free) steel.
Improper bonding blocks the direct return path and allows

high-frequency energy to travel elsewhere in the cabinet. Excessive
high-frequency energy can effect the operation of other
microprocessor controlled equipment.

The illustrations that follow (refer to Figure 1.8) show details of

recommended bonding practices for painted panels, enclosures, and
mounting brackets.
Figure 1.8
Recommended Bonding Practices for Painted Panels
Stud-mounting the subpanel Stud-mounting a ground bus

to the enclosure back wall or chassis to the subpanel
Subpanel
Back wall of Mounting bracket or
enclosure ground bus
Subpanel Welded stud
Star washer
Flat washer Scrape paint
Nut Welded
stud Nut Flat washer
Use a wire brush to remove paint from If the mounting bracket is coated with
threads to maximize ground a non-conductive material (anodized,
connection. painted, etc.), scrape the material
Use plated panels or scrape paint on Star washer around the mounting hole.
front of panel.
Bolt-mounting a ground bus or chassis to the back-panel
Subpanel
Bolt
Tapped hole
Ground bus or
Nut
mounting bracket
Star washer
Scrape paint on both sides of
panel and use star washers.
Flat washer
Star washer
Nut
Flat washer
If the mounting bracket is coated with

a non-conductive material (anodized,
Star washer painted, etc.), scrape the material
around the mounting hole.

Bonding Multiple Subpanels
Bonding multiple subpanels creates a common low impedance exit

path for the high frequency energy inside the cabinet. Subpanels that
are not bonded together may not share a common low impedance
path. This difference in impedance may affect networks and other
devices that span multiple panels. Refer to the figure below for
recommended bonding practices.
Figure 1.9
Multiple Subpanels and Cabinet
Recommended:
Bond the top and bottom of each subpanel to the cabinet using
25.4 mm (1.0 in.) by 6.35 mm (0.25 in.) wire braid.
Bonded cabinet
ground bus to
subpanel
Scrape the paint around each fastener to

maximize metal to metal contact.
Plan Your Panel Layout This section outlines the practices which minimize the possibility of
noise-related failures as they apply specifically to Kinetix 6000
installations. For more information on the concept of electrical noise
reduction, refer to System Design for Control of Electrical Noise
Reference Manual (publication GMC-RM001).

Establish Noise Zones
When a LIM (2094-AL75S, -BL75S, or -XL75S-Cx) is used in the Kinetix

6000 system and mounted left of the IAM with the AC (EMC) line filter
mounted above the LIM, observe the following guidelines when
laying out your panel (refer to Figure 1.10 for zone locations).
• The clean zone (C) is to the right and beneath the Kinetix 6000
(grey wireway).
• The dirty zone (D) is to the left and above the Kinetix 6000, and
above and below the LIM (black wireway).
• The very dirty zone (VD) is from the filter output to IAM. Shielded
cable is required on the EMC filter (LOAD side) and the braided
shield attached to the clamp provided.
• The SERCOS fiber optic cables are immune to electrical noise.
Figure 1.10
Establishing Noise Zones (LIM mounted left of IAM)
Dirty Wireway Clean Wireway
D VD
AC Line Filter Motor Power Cables
D D D
VAC LOAD Very dirty Filter/IAM connections
segregated (not in wireway)
Fiber-Optic Cable
D VD
VAC LINE D
No sensitive
MAIN VAC
equipment within
150 mm (6.0 in.) 2
Kinetix 6000
Line Interface Module
I/O 1 and Feedback Cables

C
D D
Route 24V dc I/O Route Encoder/Analog/Registration

Shielded Cable Shielded Cables
1
If IAM/AM I/O cable contains (dirty) relay wires, route cable with LIM I/O cable in dirty wireway.
2
When space does not permit the 150 mm (6.0 in.) segregation, use a grounded steel shield instead. For examples,
refer to the System Design for Control of Electrical Noise Reference Manual (publication GMC-RM001).

When a LIM (2094-AL75S, -BL75S, or -XL75S-Cx) is used in the Kinetix

6000 system and mounted right of the IAM with the AC (EMC) line
filter mounted behind the IAM, observe the following guidelines when
• The clean zone (C) is to the left and beneath the Kinetix 6000
(grey wireway).
• The dirty zone (D) is to the right and above the Kinetix 6000, and
• The very dirty zone (VD) is from the filter output to IAM. Shielded
cable is required on the EMC filter (LOAD side) and the braided
shield attached to the clamp provided.
Figure 1.11
Establishing Noise Zones (LIM with EMC Filter behind IAM)
Clean Wireway Dirty Wireway
Motor Power Cables D

Very dirty Filter/IAM connections
D D D
VAC LINE Control VAC
AUX VAC Output
24V dc Brake
Fiber-Optic
VD Cable
D
I/O
No sensitive VD D VAC LOAD MAIN VAC
equipment within
150 mm (6.0 in.) 2 D
AC Line Filter
Kinetix 6000
C I/O 1 and Feedback Cables C

D
Route Encoder/Analog/Registration Route 24V dc I/O

Shielded Cables Shielded Cable
1
2 When space does not permit the 150 mm (6.0 in.) segregation, use a grounded steel shield instead. For examples,

When a LIM (2094-AL75S or -XL75S-Cx) is used in the system and

mounted right of the drive with the AC (EMC) line filter mounted
behind the LIM, observe the following guidelines when laying out
your panel (refer to Figure 1.12 for zone locations).
• The clean zone (C) is to the left and beneath the drive system
(grey wireway).
• The dirty zone (D) is to the right and above the drive, and above
and below the LIM (black wireway).
• The very dirty zone (VD) is from the filter output to drive.
Shielded cable is required on the EMC filter (LOAD side) and the
braided shield attached to the clamp (when provided).
Figure 1.12
Establishing Noise Zones (EMC Filter behind LIM)
Clean Wireway Dirty Wireway
Motor Power Cables D
D D D Control VAC
Very dirty Filter/Drive connections Auxiliary VAC
segregated (not in wireway) VAC LINE 24V dc Brake
VAC LOAD
PR/PRS
VD
PRS
PR
PR
LIM LIM
No sensitive D LIM
I/O
equipment within MAIN VAC
150 mm (6.0 in.) 2 VD
AC (EMC)
Line Filter
Kinetix 6000
PR/PRS
PRS
PR
PR
LIM LIM
I/O 1 and Feedback Cables Line Interface Module 2094 Mounting

C C (2094-AL75S shown)
Brackets 3 (2)
D
Route Encoder/Analog/Registration Route 24V dc I/O

Shielded Cables Shielded Cable
1
If drive system I/O cable contains (dirty) relay wires, route cable with LIM I/O cable in dirty wireway.
2
3
Only the 2094-AL75S and -XL75S-Cx Line Interface Modules are compatible with the 2094 Mounting Brackets.
The 2094-BL75S, -AL09, and -BL02 models are not compatible.

When a LIM (2094-AL75S, -BL75S, or -XL75S-Cx) is used in a DC

common bus configuration and the Follower IAM is mounted below
the Leader IAM, observe the following guidelines when laying out
your panel (refer to Figure 1.10 for zone locations).
• Keep the DC common bus cable (very dirty) segregated from all
other cables (not in a wireway).
Figure 1.13
Establishing Noise Zones (DC Common Bus)
D VD
AC Line Filter Motor Power Cables
Very dirty Filter/IAM connections D D D

VD Fiber-Optic Cable
VAC LOAD, AUX VAC output, 24V
VAC LOAD
D D
VAC LINE
No sensitive
equipment within
150 mm (6.0 in.) 2
MAIN VAC
Kinetix 6000 system

with Leader IAM

Line Interface Module C
D D
D D D
VD
Fiber-Optic Cable
Very dirty DC Bus connections
No sensitive
equipment within
150 mm (6.0 in.) 2
Kinetix 6000 system

with Follower IAM

C

1
2

When a LIM (2094-AL09 or -BL02) is used in the Kinetix 6000 system

and mounted left of the IAM, observe the following guidelines when
Note: This layout is preferred due to the reduced size of the very dirty
zone.
(grey wireway).
• The very dirty zone (VD) is limited to where the LIM VAC output
jumpers over to the IAM. Shielded cable is required only if the
very dirty cables enter a wireway.
Figure 1.14
Establishing Noise Zones (LIM mounted left of IAM)

Very dirty LIM/IAM connections
(1)in wireway)
segregated (not
D Motor Power Cables
D Fiber-Optic Cable
D
VD
No sensitive
equipment within
150 mm (6.0 in.) 2
Kinetix 6000
Line Interface Module C C

D
D

1 If IAM/AM I/O cable contains (dirty) relay wires, route cable with LIM I/O cable in dirty wireway.
2

When a LIM (2094-AL09 or -BL02) is used in the Kinetix 6000 system

and mounted above the IAM, observe the following guidelines when
(grey wireway).
• The LIM VAC output is very dirty (VD). Use shielded cable with a
braid clamp attached at both ends of the cable to reduce the rating
to dirty (D).
Figure 1.15
Establishing Noise Zones (LIM mounted above IAM)
D VD
Very dirty LIM/IAM
connections must be
shielded with braid
clamp at both ends. 1
D
Motor Power Cables
D Fiber-Optic Cable
No sensitive
equipment within
150 mm (6.0 in.) 3
Kinetix 6000
C C
D
Route Encoder/Analog/Registration
Shielded Cable
Route 24V dc I/O
Shielded Cable
1
For examples of shield clamp attachment, refer to the System Design for Control of Electrical Noise Reference
Manual (publication GMC-RM001)
2 If IAM/AM I/O cable contains (dirty) relay wires, route cable in dirty wireway.
3

When a LIM (2094-xLxx) is not used in the Kinetix 6000 system,

observe the following guidelines when laying out your panel (refer to
Figure 1.16 for zone locations).
• The clean zone (C) is beneath the Kinetix 6000 and includes the
I/O wiring, feedback cable, and DC filter (grey wireway).
• The dirty zone (D) is above the Kinetix 6000 (black wireway) and
includes the circuit breakers, transformer, 24V dc power supply,
contactors, AC line filter, and motor power cables.
• The very dirty zone (VD) is limited to where the AC line (EMC)
filter VAC output jumpers over to the IAM. Shielded cable is
required only if the very dirty cables enter a wireway.
Figure 1.16
Establishing Noise Zones (No LIM)

Very dirty EMC filter/IAM connections
(1) segregated (not in wireway)
D D 2
VD
Contactors
Circuit
Breaker 24V Motor AC
Brake PS Line Filter
4
XFMR
DC
Kinetix 6000
Filter
2
3
C I/O 1 and Feedback Cables C

Shielded Cable Shielded Cable
1
If IAM/AM I/O cable contains (dirty) relay wires, route cable in dirty wireway.
2
When space to the right of the IAM does not permit 150 mm (6.0 in.) segregation, use a grounded steel shield
instead. For examples, refer to the System Design for Control of Electrical Noise Reference Manual (publication
GMC-RM001).
3
This is a clean 24V dc available for any device that may require it. The 24V enters the clean wireway and exits to
the right.
4
This is a dirty 24V dc available for motor brakes and contactors. The 24V enters the dirty wireway and exits to the
left.

Observe the following guidelines when installing your 1756-MxxSE

SERCOS interface module (refer to Figure 1.17 for zone locations).
• The clean zone (C) is beneath the less noisy modules (I/O, analog,
encoder, registration, etc. (grey wireway).
• The dirty zone (D) is above and below the power supply and
noisy modules (black wireway).
Figure 1.17
Establishing Noise Zones (ControlLogix)
(1) Route dirty wireways directly above the ControlLogix rack

D (shielded by the chassis)
EMC
Filter
Spare Slot(s)
D C
EMC filter/power supply Dirty I/O Clean I/O

connections segregated (24V dc I/O, AC I/O) (Analog, Encoder
(not in wireway) Registration, etc.)
Cable Categories for the Kinetix 6000
The table below indicates the zoning requirements of cables

connecting to the Integrated Axis Module (converter side).
Zone Method
Wire/Cable Connector Very Ferrite Shielded
Dirty Dirty Clean Sleeve Cable
CTRL 1 and 2 CPD X
DC-/DC+ (unshielded cable) X
L1, L2, L3 (shielded cable) IPD X X
L1, L2, L3 (unshielded cable) X
CONT EN- and CONT EN+ (M1 contactor) CED X
DPI DPI X X


connecting to the Integrated Axis Module or Axis Module (inverter
side).
Zone Method
Dirty Clean
Dirty Sleeve Cable
U, V, W (motor power) MP X X
MBRK-, MBRK+ (motor brake) X
MBRK-, MBRK+ (motor brake) X X
1326AB motors with resolver feedback
BC
DBRK-, DBRK+ (resistive brake) X
COM, PWR (24V dc), filtered1 X
2
COM, PWR (24V dc), unfiltered X
COM, PWR (24V dc), safety enable, and SO X
feedback signals for Safe-Off feature
Motor Feedback MF X X
Auxiliary Feedback AF X X
Registration and Analog Outputs X X
IOD
Others X
Fiber-Optic Rx and Tx No Restrictions
1
Refer to Footnote 3 on page 1-28.
2
Refer to Footnote 4 on page 1-28.

connecting to the Line Interface Module.
Zone Method
Dirty Clean
Dirty Sleeve Cable
VAC LINE (main input) IPL X
230V ac input APL X
VAC LOAD (shielded option) X X
OPL
VAC LOAD (unshielded option) X
Control Power Output CPL X
MBRK PWR, MBRK COM P1L/PSL X
Status I/O IOL X
Auxiliary 230V ac P2L X


connecting to the External Shunt Resistor Kit.
Zone Method
Dirty Dirty Clean Sleeve Cable
COL, DC+ (shielded option) X X
RC
COL, DC+ (unshielded option) X
Thermal Switch TS X X
Fan (if present) N/A X

connecting to the Resistive Brake Module.
Zone Method
Wire/Cable Connections Very Ferrite Shielded
Dirty Clean
Dirty Sleeve Cable
Resistive Brake Module Coil Power TB3-6 and TB3-7 X
TB1-1 thru -5
Resistive Brake Module I/O and TB3-8 X
Resistive Brake Module

Drive and Motor Power TB1 and TB2 X X
230V Power TB4 X
Mounting Guidelines to Reduce Electrical Noise
When mounting an AC line (EMC) filter or external shunt resistor refer

to the sections below for guidelines designed to reduce system
failures caused by excessive electrical noise.
AC Line Filters
Observe the following guidelines when mounting your AC line (EMC)

filter (refer to Figure 1.16 for an example).
• Mount the AC line filter on the same panel as the Kinetix 6000 and
as close to the Kinetix 6000 Power Rail as possible.
• Good HF bonding to the panel is critical. For painted panels, refer
to Figure 1.8.
• Segregate input and output wiring as far as possible.
IMPORTANT CE test certification applies only to AC line filter and

single power rail. Sharing a line filter with multiple
power rails may perform satisfactorily, but the user
takes legal responsibility.

External Shunt Resistor
Observe the following guidelines when mounting your external shunt

resistor outside the enclosure (refer to Figure 1.18).
• Mount circuit components and wiring in the very dirty zone or in

an external shielded enclosure. Run shunt power and fan wiring
inside metal conduit to minimize the effects of EMI and RFI.
• Mount resistors (other than metal-clad) in a shielded and
ventilated enclosure outside the cabinet
• Keep unshielded wiring as short as possible. Keep shunt wiring as
flat to the cabinet as possible.
• Route thermal switch and fan wires separate from shunt power.
Figure 1.18
External Shunt Resistor Outside the Enclosure
Customer-supplied
metal enclosure
150 mm (6.0 in.) of

clearance on all sides
of the shunt module ALLEN-BRADLEY
1394 Digital Servo Controller
300W Shunt Module Metal conduit
(where required
R
BULLETIN 1394 300W SHUNT MODULE
minimum
CAT. PART SER.
INPUT DC INPUT AC
FOR FUSE REPLACEMENT USE:
BUSSMAN CAT. NO.
FOR USE WITH 1394-SJT22-X SYSTEM MODULE
by local code)
Shunt thermal switch and fan wires (when exist)

Shunt Power Wiring Methods:
Twisted pair in conduit (1st choice)
Shielded twisted pair (2nd choice)
Twisted pair, 2 twists per foot min. (3rd choice)
(1)
D VD
Very dirty connections segregated
(not in wireway)
D 2094-BSP2
D Shunt Module
VD
No sensitive
equipment within
150 mm (6.0 in.)
Kinetix 6000
D Line Interface Module C C
D
I/O and Feedback Cables
Route 24V dc I/O Enclosure Route Encoder/Analog/Registration


When mounting your shunt module inside the enclosure, follow these
additional guidelines (refer to Figure 1.19 and for an example).
• Metal-clad modules can be mounted anywhere in the dirty zone,

but as close to the Kinetix 6000 as possible.
• Shunt power wires can be run with motor power cables.
• Keep unshielded wiring as short as possible. Keep shunt wiring as
flat to the cabinet as possible.
• Separate shunt power cables from other sensitive, low voltage
signal cables.
Figure 1.19
External Shunt Resistor Inside the Enclosure

Enclosure
150 mm (6.0 in.) of

clearance on all sides
of the shunt module
1394 Digital Servo Controller
300W Shunt Module
ALLEN-BRADLEY R
minimum
CAT. PART SER.
INPUT DC INPUT AC
BUSSMAN CAT. NO.
Shunt thermal switch and fan wires (when exist)

VD Shunt Wiring Methods:
Twisted pair in conduit (1st choice).
Very dirty connections segregated Shielded twisted pair (2nd choice).
(not in wireway) Twisted pair, 2 twists per foot min. (3rd choice).
D Motor Power Cables D
2094-BSP2
D D
Shunt Module
VD
No sensitive
equipment within
150 mm (6.0 in.)
Kinetix 6000
Line Interface Module C C

D
D
I/O and Feedback Cables


Resistive Brake Modules
Observe the following guidelines when mounting your resistive brake

module (RBM). Refer to Figure 1.20 and for an example.
• Mount circuit components and wiring in the dirty zone or in an

external shielded enclosure. If mounting the RBM in a separate
ventilated shielded enclosure, run wiring inside metal conduit to
minimize the effects of EMI and RFI.
• Keep unshielded wiring as short as possible. Keep wiring as flat to
the cabinet as possible.
• Route RBM power and I/O cables separate from other sensitive
low voltage signal cables.
Figure 1.20
Establishing Noise Zones (RBM mounted above AM)
RBM D
I/O
Very dirty LIM/IAM connections

Fiber-Optic
Cable
LIM VAC Input Power D
Motor Power
Cables
D VD
No sensitive
equipment within
150 mm (6.0 in.)
Kinetix 6000
D Line Interface Module C
D
IAM/AM Feedback and
(clean) I/O
LIM and IAM/AM (dirty) I/O

Motor Brake and Thermal Switch
The thermal switch and brake are mounted inside the motor, but how
you connect to the axis module depends on the motor series. Refer to
Connect Motor Power and Brakes in Chapter 3 for wiring guidelines
specific to your drive/motor combination. Refer to AM/Motor
Interconnect Diagrams in Appendix B for the interconnect diagram for
your drive/motor combination.
Bulletin 2094 Mounting Brackets
The 2094 mounting brackets (catalog number 2094-XNBRKT-1) are

designed to mount directly to the panel and over your AC line filter.
The bracket provides threaded holes so that the 2094 Power Rail or
Line Interface Module can be mounted on the brackets.
The number of brackets required for use with the power rail and LIM
are shown in the table below.
Bracket Application Brackets Required

LIM (2094-AL75S, -BL75S, and -XL75S-Cx) 2
Power Rail (2094-PRSx or -PRx) 1-4 axis 2
Power Rail (2094-PRSx or -PRx) 5-8 axis 3
Locate Mounting Bracket Features
Figure 1.21
Mounting Bracket Features
For use when mounting 2094-PRSx Power Rail

(except -PRS1 bracket in right most position) Grounding Stud
PR/PRS
PRS
PR
LIM LIM
Mounting Bracket
(2094-XNBRKT-1)
For use when mounting LIM For use when mounting For use when mounting LIM
Power Rail (2094-PRx)
For use when mounting
Power Rail (2094-PRSx or PRx)
For use when mounting 2094-PRS1 Power Rail
(bracket in right most position)

Mounting Bracket Orientation
When using mounting brackets to mount the power rail over an AC

line filter, orient the power rail and brackets as shown in Figure 1.22.
Figure 1.22
Mounting Brackets used with Power Rail
LIM
LIM
LIM
PR/PRS PR/PRS PR/PRS
Power Rail
Space for AC Line Filter
(2094-PRS8 shown)
beneath brackets and Power Rail.
PR PR PR
PRS PRS PRS

LIM
LIM
LIM
Mounting Bracket (2094-XNBRKT-1)
Use M6 (1/4 in.) bolts (2 places typical)
to mount each bracket to panel.
When using mounting brackets to mount the LIM over an AC line

filter, orient the LIM and brackets as shown in Figure 1.23.
Figure 1.23
Mounting Brackets used with Power Rail and LIM PR/PRS
PRS
PR
PR
LIM LIM
LIM
LIM
LIM
Space for MAIN VAC
AC Line Filter
beneath brackets, Line Interface Module
Power Rail Power Rail, and LIM.
(2094-PRS8 shown) PR PR PR
(2094-AL75S shown)
PRS PRS PRS

LIM
LIM
LIM
PR/PRS
PRS
PR
PR
LIM LIM
Mounting Bracket (2094-XNBRKT-1)

Use M6 (1/4 in.) bolts (2 places typical)
to mount each bracket to panel.

Mount Your Kinetix 6000 The procedures in this section assume you have prepared your panel
and understand how to bond your system. For installation instructions
Drive System regarding equipment and accessories not included here, refer to the
instructions that came with those items.
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.
Bulletin 2094 mounting brackets can be used to mount the power rail
over the AC line filter.
If Then
1. Layout the position for your AC line filter
You are using the 2094 Mounting Brackets and (refer to Establish Noise Zones for panel
plan to mount the power rail over the AC line layout recommendations).
filter 2. Mount your AC line filter on the panel.
3. Go to Install 2094 Mounting Brackets.
You are not using the 2094 Mounting Brackets Go to Mount Your Power Rail.
Install 2094 Mounting Brackets
To mount your Bulletin 2094 Mounting Brackets:
1. Layout the position for your mounting brackets in the enclosure

(refer to Establish Noise Zones for panel layout recommendations).
Mounting hole dimensions for the brackets are shown in
Appendix A.
2. Attach each bracket to the cabinet. The recommended mounting

hardware is M6 metric (1/4 in.) bolts. Make sure the brackets are
properly bonded to the subpanel. Refer to the section HF Bonding
Your System for proper bonding techniques.
IMPORTANT To improve the bond between the mounting

bracket and subpanel, construct your subpanel
out of zinc plated (paint-free) steel.

3. Tighten all mounting fasteners. Refer to Figure 1.24 for an

illustration of the 2094 mounting brackets mounted over the AC
line filter.
4. Remove braided grounding strap from 2094 power rail (save nut
and washer). Refer to Figure 1.25 for location of strap.
5. Attach grounding strap to any convenient mounting bracket

ground stud (use nut and washer saved in step 4). Apply 7.3 N-m
(65 lb-in.) torque to nut (refer to Figure 1.24).
IMPORTANT When 2094 mounting brackets are used to mount the

power rail over the AC line filter, the braided
grounding strap must be removed from the power
rail and attached to a mounting bracket grounding
stud.
Figure 1.24
Mounting Orientation
LIM
LIM
LIM
AC Line Filter
(2090-XXLF-3100 shown)
PR PR PR Bonded cabinet ground 1

PRS PRS PRS
Grounding Stud
LIM
LIM
LIM
(typical all brackets)

To ground grid or power
distribution ground.
Braided ground strap on

Mounting Brackets (2094-XNBRKT-1) 100 mm (3.9 in.)
1
For more information on bonding subpanels, refer to the System Design for Control of Electrical Noise Reference
Manual (publication GMC-RM001).
Mount Your Power Rail
The Kinetix 6000 power rail comes in lengths to support one IAM, and
up to seven additional axes (AM) or shunt module (SM). The
connector pins for each slot are covered by a protective boot. The
boot is designed to protect the pins from damage and ensure that no
foreign objects lodge between the pins during installation.
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 mount your Kinetix 6000 power rail:
1. Layout the position for your power rail in the enclosure (refer to
Establish Noise Zones for panel layout recommendations).
Mounting hole dimensions for the power rail are shown in
Appendix A.
2. Attach the power rail to the cabinet. The recommended mounting

hardware is M6 metric (1/4 in.) bolts. Make sure the power rail is

subpanel, construct your subpanel out of zinc
plated (paint-free) steel.
3. Tighten all mounting fasteners.
4.
If your 2094 power Then
rail is mounted
Attach the braided grounding strap from
Directly to the panel right side grounding stud to the bonded
cabinet ground, as shown in Figure 1.25.
Go to Install 2094 Mounting Brackets and
To 2094 mounting verify proper installation of grounding
brackets
strap, as shown in Figure 1.24.
Figure 1.25
Attaching Braided Ground Strap (2094-PRSx and -PRx)
Do not remove protective Bonded cabinet ground 1

boots (one per connector)
until modules are ready
for mounting.
To ground grid or power

distribution ground.
Location of ground stud

with braided ground strap on
Bulletin 2094-PRSx (Slim)
power rails. 100 mm (3.9 in.)
Ground stud location on
Bulletin 2094-PRx power rails.
1
For more information on bonding subpanels, refer to the System Design for Control of Electrical Noise Reference
Manual (publication GMC-RM001).

Mount Your Integrated Axis Module
This procedure assumes you have mounted your power rail to the
panel. Each power rail accommodates one Integrated Axis Module
(IAM) and up to seven additional modules (either axis or shunt). You
must mount a slot filler in any slot not occupied by another module.
IMPORTANT To prevent guide pin misalignment or damage to

signal pins, the power rail must be mounted in your
cabinet and in an upright vertical position (as shown
in Figure 1.27) before mounting modules.
Note: Although this procedure is written for the IAM, figures 1.26
through 1.29 apply to any module mounting on the power rail.
To mount your Integrated Axis Module (IAM):
1. Prepare to mount your IAM in the left most slot by removing the
protective boots from the power rail connectors (refer to Figure
1.26 for the IAM position on the power rail).
IMPORTANT The IAM must be positioned in the left most slot

of the power rail. Position your axis module(s),
shunt module, and slot filler(s) to the right of the
IAM.
2. Remove the label (applied to back and side of module) covering

the pins that mate with the power rail.
ATTENTION To avoid damage to the pins located on the back

of each module (IAM, AM, SM, and PRF) and to
ensure that module pins mate properly with the
power rail, hang modules as shown in steps 3-6.

3. Hang the mounting bracket from the slot on the power rail (as
shown in Figure 1.26).
Figure 1.26
Mounting Kinetix 6000 Components on the Power Rail
Mounting Bracket
Power Rail Slot
Slots for additional axis modules,

shunt module, or slot filler.
Integrated Axis Module

Power Rail
4. Pivot module downward and align the guide pins on the power
rail with the guide pin holes in the back of the IAM. Refer to
Figure 1.27 for alignment of pins and holes.
Note: The IAM can have two or three power rail connectors and
guide pins, the AM can have one or two, all others have
only one.
Figure 1.27
Guide Pin Alignment
Pivot module downward

and align with guide pin(s)
Guide Pin
Hole(s)
Guide Pin(s)
Power Rail
(side view)
in upright Integrated Axis Module
vertical position (side view)
(rear view)

5. Gently push the module against the power rail connectors. Refer
to the figure below for final mounting position.
Figure 1.28
Kinetix 6000 Component Mounted on the Power Rail
Bracket secured in slot
Power Rail
6. Use 2.26 N-m (20 lb-in.) torque to tighten the mounting screw(s)
located as shown in the figure below.
Figure 1.29
Tightening the Mounting Screws
Bottom front view of Bottom front view of

Double-Wide Axis Module Axis Module
Mounting Screws
IMPORTANT There are two mounting screws when mounting

2094-AC32-M05, -BC04-M03, and -BC07-M05
(double-wide) IAMs and 2094-AM05, -BM03, and
-BM05 (double-wide) AMs.

Mount Your Axis Module(s)
IMPORTANT Mount IAM, AM, SM, and PRF modules in the

order (left to right) as shown in Figure 1.30.
Mount axis modules (AM) according to power
utilization (highest to lowest) from left to right
starting with the highest power utilization.
If power utilization is unknown, position axis
modules (highest to lowest) from left to right
based on amp rating.
Figure 1.30
Axis Module Mounting Order
Highest Power Utilization or Amp Rating Lowest Power Utilization or Amp Rating
Integrated Axis Module Axis Module Axis Module Axis Module Axis Module Axis Module Shunt Module Slot Filler Module
2094-AC09-M02 2094-AM02 2094-AM02 2094-AM02 2094-AM01 2094-AM01 2094-BSP2 2094-PRF
This procedure assumes you have mounted your power rail and
integrated axis module.
To mount your Axis Module (AM):
1. Determine the next available slot (to the right of the IAM) for
positioning your axis module.
2. Remove the protective boot(s) from the power rail connector(s).


ATTENTION
To avoid damage to the pins located on the back
4. Hang the axis module mounting bracket into the corresponding

slot on the power rail. Refer to Figure 1.26 for an example.
rail with the guide pin holes in the back of the AM. Refer to Figure
1.27 for alignment of pins and holes.
to Figure 1.28 for an example of Kinetix 6000 components
mounted on the power rail.
7. Use 2.26 N-m (20 lb-in.) torque to tighten the mounting screw(s).
Refer to Figure 1.29 for the location of the mounting screw(s) on
Kinetix 6000 components.
8.
If you Do this
Have another 2094-AMxx or -BMxx Go to step 1 (above) and complete
axis module to mount installation on your next axis module.
Do not have another 2094-AMxx or
Go to Mount Your Shunt Module.
-BMxx axis module to mount

Mount Your Shunt Module
This procedure assumes you have mounted your power rail,

integrated axis module (IAM or Leader IAM), and axis module(s).
IMPORTANT Do not mount the Bulletin 2094 Shunt Module on

power rails with a Follower IAM. Common Bus
Follower IAMs will disable the internal, rail mounted,
and external shunt modules.
To mount your Shunt Module (SM):
1. Determine the next available slot (to the right of the last axis
module) for positioning your shunt module.
IMPORTANT Shunt module must be installed to the right of

last axis module. Only slot filler module(s) may
be installed to the right of the shunt module.
2. Remove the protective boot from the power rail connector.

ATTENTION
4. Hang the shunt module mounting bracket into the corresponding

slot on the power rail. Refer to Figure 1.26 for an example.
rail with the guide pin holes in the back of the shunt module.
Refer to Figure 1.27 for alignment of pins and holes.

Mount Your Slot Filler Module(s)
This procedure assumes you have mounted your power rail,

integrated axis module, axis module(s), and shunt module.
SHOCK HAZARD To avoid personal injury due to electrical shock,

place a Slot Filler module (catalog number 2094-PRF)
in any empty slot on the power rail.
Any power rail connector without a module installed
will disable the Kinetix 6000, however control power
is still present.
To mount your Slot Filler module:
1. Determine which power rail connector(s) require a slot filler

module.
2. Remove the protective boot from the power rail connector.

ATTENTION
4. Hang the slot filler mounting bracket into the corresponding slot
on the power rail. Refer to Figure 1.26 for an example.
rail with the guide pin holes in the back of the slot filler module.
Refer to Figure 1.27 for alignment of pins and holes.

8.
If you Then
Have additional
Go to step 1 (above) and complete
empty slot(s) in
installation on your next slot filler.
your power rail
Do not have empty
slot(s) in your You have completed mounting your power
rail components.
power rail
Install 2094 Mounting Brackets
Bulletin 2094 mounting brackets can be used to mount the LIM over
the AC line filter. Refer to Figure 1.31 for an illustration of the 2094
mounting bracket orientation when used with the LIM.
If Then
1. Layout the position for your AC line filter
(refer to Establish Noise Zones for panel
You are using the 2094 Mounting Brackets and layout recommendations).
plan to mount the LIM over the AC line filter
2. Mount your AC line filter on the panel.
3. Go to main step 1 below.
You are not using the 2094 Mounting Brackets Go to Mount Your Line Interface Module.
To install your Bulletin 2094 Mounting Brackets:
1. Layout the position for your mounting brackets in the enclosure

(refer to Establish Noise Zones for panel layout recommendations).
Mounting hole dimensions for the brackets are shown in Appendix
A.
2. Attach each bracket to the cabinet. The recommended mounting

hardware is M6 metric (1/4 in.) bolts. Make sure the brackets are
IMPORTANT To improve the bond between the mounting

bracket and subpanel, construct your subpanel
out of zinc plated (paint-free) steel.

Figure 1.31
Mounting Orientation
Mounting Brackets
(2094-XNBRKT-1)
PR/PRS
PRS
PR
LIM LIM
AC Line Filter
(2090-XXLF-3100 shown)
PR/PRS
PRS
PR
LIM LIM
Mounting Brackets
(2094-XNBRKT-1)
Mount Your Line Interface Module
To mount your Kinetix 6000 Line Interface Module (LIM):
1. Layout the position for your LIM in the enclosure (refer to

Establish Noise Zones for panel layout recommendations).
Mounting hole dimensions for the LIM are shown in Appendix A.
IMPORTANT To improve EMC performance, mount the LIM on

the same panel as the Kinetix 6000 and as close
to the Kinetix 6000 Power Rail as possible.
Mounting the LIM as shown in Establish Noise
Zones (beginning on page 1-22) is preferred,
however other configurations may perform
satisfactorily.
2. Attach the LIM to the cabinet. The recommended mounting

hardware is M6 metric (1/4 in.) bolts. Make sure all fasteners are
Note: The Variable Depth Rotary Mechanism (PN 140U-H-RM12B) is

available as a means to turn off CB1 from outside the cabinet.

Mount Your External Shunt Resistor Kit
If your Kinetix 6000 requires a means of dissipating regenerative

energy that exceeds the capacity of the shunt module, install an
External Shunt Resistor Kit (refer to Appendix C for catalog numbers).
BURN HAZARD To avoid the hazard of shock or burn and ignition of

flammable material, appropriate guarding must be
provided. These resistors can reach temperatures in
excess of 350° C (662° F). Install per local codes.
To install your External Shunt Resistor Kit:
1. Layout the position for your shunt resistor in the enclosure (refer
to Establish Noise Zones for panel layout recommendations).
2. Attach the shunt resistor to the cabinet. The recommended

mounting hardware is M6 metric (1/4 in.) bolts. Make sure all
fasteners are properly bonded to the subpanel. Refer to the
section HF Bonding Your System for proper bonding techniques.
For mounting dimensions, refer to the Kinetix Motion Control

Selection Guide (publication GMC-SG001).
Replace Kinetix 6000 System Components
For Kinetix 6000 system component removal and replacement

procedures, refer to the Kinetix 6000 Multi-Axis Servo Drive
Integration Manual (publication 2094-IN002).


Chapter 2
Kinetix 6000 Connector Data
Chapter Objectives This chapter provides power, feedback, and I/O connector locations
and signal descriptions for your Kinetix 6000. This chapter includes:
• Locate IAM Connectors and Indicators

• Locate AM Connectors and Indicators
• IAM and AM Connector Pin-outs
• Understand IAM/AM Signal Specifications
• Understand Feedback Specifications
• Locate SM Connectors and Indicators
• Locate LIM Connectors and Indicators
• LIM Connector Pin-outs
• Understand LIM Signal Specifications
Switch and LED locations are shown, however for switch and LED
configuration, refer to the Kinetix 6000 Multi-Axis Servo Drive
Integration Manual (publication 2094-IN002).

2-2 Kinetix 6000 Connector Data
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 2.1
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
(CPD) Connector 1 2 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: Switch and LED locations are shown, however for switch and
LED configuration, refer to the Kinetix 6000 Multi-Axis Servo
Drive Integration Manual (publication 2094-IN002).

Kinetix 6000 Connector Data 2-3
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 2.2
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

and Optical Power Switches
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

IAM and AM Connector The IAM and AM connectors are described in the table below. IAM/
AM connector pin-outs and signal descriptions follow.
Pin-outs
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 (female) IAM/AM
AF Auxiliary Feedback 15-pin high-density D-shell (male) IAM/AM
CPD Control Input Power (drive) 2-position plug/header IAM
DC Bus and VAC Input Power (drive)
230V 6-position plug/header IAM
IPD
DC Bus and VAC Input Power (drive) 6-position plug/header IAM
460V
CED Contactor Enable 2-position plug/header IAM
MP Motor Power 4-position plug/header IAM/AM
BC Dynamic/Motor Brake 6-position plug/header 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
Safe-Off Connector Pin-out
Each IAM (2094-BCxx-Mxx-S) and AM (2094-BMxx-S) ships with the

(9-pin) wiring plug header (2090-XNSS-WP) and motion allowed
jumper (2090-XNSS-MA) installed in the Safe-Off (SO) connector. With
the motion allowed jumper installed, the safe-off feature is not used.
For Safe-Off (SO) connector and wiring information, refer to the
Kinetix Safe-Off Feature Safety Reference Manual (publication
GMC-RM002).
Figure 2.3
Motion Allowed Jumper (2090-XNSS-MA)
Kinetix 6000 IAM/AM

(Kinetix 6000 AM is shown) 1
1 2
3 4
5 6 Motion Allowed Jumper
7 8
9
Safe-Off
(SO) Connector Wiring Plug Header

I/O Connector Pin-out
The following table and figure below provides the signal descriptions
and pin-out for the IAM and AM I/O (26-pin) IOD connector. Refer to
Digital Inputs on page 2-11 and Analog Outputs on page 2-13 for I/O
signal specifications.
IMPORTANT Signals +24V_PWR and +24V_COM are a 24V dc

source to be used by the customer only for the
inputs listed below.
IOD Pin Description Signal IOD Pin Description Signal

1 Hardware Enable 24V dc Power Supply +24V_PWR 14 High Speed Registration 1 Input REG1
2 Hardware Enable Input ENABLE 15 Common for Registration REG_COM
3 Common +24V_COM 16 24V Registration Power REG_24V
4 Home Switch 24V dc Power Supply +24V_PWR 17 High Speed Registration 2 Input REG2
5 Home Switch Input HOME 18 Common for Registration REG_COM
6 Common +24V_COM 19 Reserved —
7 Positive Overtravel 24V dc Power Supply +24V_PWR 20 Reserved —
8 Positive Overtravel Limit Switch Input OT+ 21 Reserved —
9 Common +24V_COM 22 Reserved —
10 Negative Overtravel 24V dc Power Supply +24V_PWR 23 Analog Output 0 DAC0
11 Negative Overtravel Limit Switch Input OT- 24 Analog Output Common DAC_COM
12 Common +24V_COM 25 Analog Output 1 DAC1
13 24V Registration Power REG_24V 26 Analog Output Common DAC_COM
Figure 2.4
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

Motor Feedback Connector Pin-outs
The following table provides the signal descriptions and pin-out for
the IAM and AM motor feedback (15-pin) MF connectors. Motor and
auxiliary feedback specifications begin on page 2-17.
Stegmann Hiperface (SRS/SRM)
Refer to Appendix B for interconnect drawings showing how to

connect Stegmann Hiperface feedback to MPL-Bxxxx-M and -S,
-Axxxx-M and -S, MPG-Bxxx-xxx-M and -S, -Axxx-xxx-M and -S, and
1326AB-Bxxxx-M2L and -S2L 460V motors.
MF Pin Description Signal MF Pin Description Signal

1 Sine Differential Input+ SINE+ 9 Reserved —
2 Sine Differential Input- SINE- 10 Hiperface data channel DATA-
3 Cosine Differential Input+ COS+ 11 Motor Thermal Switch (normally closed) 1 TS
4 Cosine Differential Input- COS- 12 Reserved —
5 Hiperface data channel DATA+ 13 Reserved —
6 Common ECOMM 14 Encoder Power (+5V) EPWR_5VM
7 Encoder Power (+9V) EPWR_9VM 15 Reserved —
8 Reserved —
1 Not applicable unless motor has integrated thermal protection.
TTL or Sine/Cosine with Index Pulse and Hall Commutation

connect TTL or sine/cosine with index pulse and Hall commutation
feedback to MPL-Axxxx-H, TL-Axxxx-H, H-, N-, and Y-Series 230V
motors and MPL-Bxxxx-H 460V motors.

1 AM+ / Sine Differential Input+ AM+ / SINE+ 9 Reserved —
2 AM- / Sine Differential Input- AM- / SINE- 10 Index Pulse- IM-
3 BM+ / Cosine Differential Input+ BM+ / COS+ 11 Motor Thermal Switch (normally closed) 1 TS
4 BM- / Cosine Differential Input- BM- / COS- 12 Single Ended 5V Hall Effect Commutation S1
5 Index Pulse+ IM+ 13 Single Ended 5V Hall Effect Commutation S2
Single Ended 5V Hall Effect
8 Commutation S3
1 Not applicable unless motor has integrated thermal protection.

Resolver Transmitter TR = 0.25
Note: TR=0.25 is an abbreviation for Transformation Ratio 0.25.

connect resolver transmitter feedback to MPL-Bxxxx-R and
1326AB-Bxxxx-21 Series 460V motors.

1 Sine Differential Input+ S2 9 Reserved —
2 Sine Differential Input- S4 10 Resolver Excitation R2
3 Cosine Differential Input+ S1 11 Motor Thermal Switch (normally closed) 1, 2 TS
4 Cosine Differential Input- S3 12 Reserved —
5 Resolver Excitation R1 13 Reserved —
8 Reserved —
1
Not applicable unless motor has integrated thermal protection.
2
When using 1326AB (resolver-based) motors, use Low Profile connector kit (2090-K6CK-D15MF) which connects
the filtered thermal switch (pins 16 and 17) to MF-11 and -6.
IMPORTANT To meet CE requirements, combined motor power or

feedback cable length for all axes on the same DC
bus must not exceed 240 m (787 ft) with 460V
systems or 160 m (525 ft) with 230V systems.
Drive-to-motor power or feedback cables must not
exceed 90 m (295.5 ft).
Figure 2.5
Pin Orientation for 15-pin Motor Feedback (MF) Connector
15-pin IAM/AM
Motor Feedback Connector
Pin 10
Pin 15 Pin 5
Pin 11 Pin 1
Pin 6

Auxiliary Feedback Connector Pin-outs
The following tables provide the signal descriptions and pin-outs for
the IAM and AM auxiliary feedback (15-pin) AF connectors when used
with different feedback devices. Motor and auxiliary feedback
specifications begin on page 2-17.
Note: For TTL devices, the position count will increase when A leads
B. For sinusoidal devices, the position count will increase when
cosine leads sine.
Stegmann Hiperface (SRS and SRM only)
AF Pin Description Signal AF Pin Description Signal

1 Sine Differential Input+ SINE+ 9 Reserved —
2 Sine Differential Input- SINE- 10 Hiperface data channel DATA-
3 Cosine Differential Input+ COS+ 11 Reserved —
4 Cosine Differential Input- COS- 12 Reserved —
5 Hiperface data channel DATA+ 13 Reserved —
6 Common ECOM 14 Encoder Power (+5V) EPWR_5V
7 Encoder Power (+9V) EPWR_9V 15 Reserved —
8 Reserved —
TTL or Sine/Cosine with Index Pulse
AF Pin Description Signal AF Pin Description Signal

1 A+ / Sine Differential Input+ A+ / SINE+ 9 Reserved —
2 A- / Sine Differential Input- A- / SINE- 10 Index Pulse- I-
3 B+ / Cosine Differential Input+ B+ / COS+ 11 Reserved —
4 B- / Cosine Differential Input- B- / COS- 12 Reserved —
5 Index Pulse+ I+ 13 Reserved —
6 Common ECOM 14 Encoder Power (+5V) EPWR_5V
7 Encoder Power (+9V) EPWR_9V 15 Reserved —
8 Reserved —
Figure 2.6
Pin Orientation for 15-pin Auxiliary Feedback (AF) Connector
15-pin IAM/AM
Auxiliary Feedback Connector
Pin 6
Pin 11 Pin 1
Pin 15 Pin 5
Pin 10

IAM Input Connector Pin-outs
the Integrated Axis Module input connectors.
Control Power Connector
The following table provides the signal descriptions and pin-outs for
the Control power (2-pin) CPD connector. Refer to Control Power
Input on page 2-16 for signal specifications.
CPD Pin Description Signal

1 CTRL 2
Control power VAC input
2 CTRL 1
DC Bus and Input Power Connector
the DC bus and input power (6-pin) IPD connector.
IPD Pin Description Signal

1 An integral, unregulated power supply, DC-
consisting of AC line input, 3-phase
2 bridge rectifier, and filter capacitors. DC+
3 Chassis ground
4 L3
5 3-phase input power L2
6 L1
Contactor Enable Connector
the contactor enable (2-pin) CED connector. Refer to Contactor
Enable Relay on page 2-14 for signal specifications.
CED Pin Description Signal

1 Relay-driven dry contact used in the CONT EN-
safety string for a 3-phase power
2 contactor CONT EN+

IAM and AM Motor Power and Brake Connector Pin-outs
the Integrated Axis Module and Axis Module motor power and brake
connectors. Refer to Motor/Resistive Brake Relay on page 2-15 for
signal specifications.
Motor Power Connector
the IAM and AM motor power (4-pin) MP connector.
MP Pin Description Signal

4 Chassis ground
3 W
2 3-phase motor power V
1 U
IMPORTANT To meet CE requirements, combined motor power or

feedback cable length for all axes on the same DC
bus must not exceed 240 m (787 ft) with 460V
systems or 160 m (525 ft) with 230V systems.
Drive-to-motor power or feedback cables must not
exceed 90 m (295.5 ft).
Motor Brake/Resistive Brake Connector
the IAM and AM motor and resistive brake (6-pin) BC connector.
BC Pin Description Signal

6 MBRK-
Motor brake connections
5 MBRK+
4 Motor brake common COM
3 +24V brake input power (from LIM or PWR

customer supplied)
2 Resistive brake module connections DBRK-
1 (from RBM and safety string) DBRK+

Understand IAM/AM A description of the Kinetix 6000 IAM/AM input/output (IOD),

SERCOS, contactor enable (CED), brake (BC), and control power
Signal Specifications (CPD) connectors is provided on the following pages.
Digital Inputs
Two fast registration inputs and four other inputs are available for the
machine interface on the Integrated Axis Modules (IAM) and Axis
Modules (AM). Each IAM and AM supplies 24V dc @ 500 mA for the
purpose of registration, home, enable, over-travel positive, and
over-travel negative inputs. These are sinking inputs that require a
sourcing device. A 24V power and common connection is provided
for each input.
IMPORTANT To improve registration input EMC performance,

refer to the System Design for Control of Electrical
Noise Reference Manual (GMC-RM001).
IMPORTANT Overtravel limit input devices must be normally

closed.
IOD Pin Signal Description Capture Edge/Level

Time Sensitive
Single optically isolated, single-ended active high signal. Current loading is
IOD-2 ENABLE nominally 10mA. A 24V dc input is applied to this terminal to enable each 50 ms Level
axis.
Single optically isolated, single-ended active high signal. Current loading is
IOD-5 HOME nominally 10 mA. Home switch (normally open contact) inputs for each axis 50 ms Level
require 24V dc (nominal).
Fast registration inputs are required to inform the motor interface to
IOD-14 REG1 capture the positional information with less than 3 µs uncertainty. Single
IOD-17 REG2 optically isolated, single-ended active high signal. Current loading is 500 ns Edge
nominally 10mA. A 24V dc input is applied to this terminal to enable each
axis.
Overtravel detection is available as a dual-input, optically isolated,
IOD-8 OT+ single-ended active high signal. Current loading is nominally 10mA per
IOD-11 OT- input. The pos/neg limit switch (normally closed contact) inputs for each 50 ms Level
axis require 24V dc (nominal).
The following table provides a description of the digital input

specifications, as shown in figures 2.7 and 2.8.
Parameter Description Minimum Maximum

Voltage applied to the input, with respect to
ON State Voltage IOCOM, to guarantee an ON state. 10.8V 26.4V
ON State Current Current flow to guarantee an ON State 3.0 mA 10.0 mA
OFF State Voltage Voltage applied to the input, with respect to -1.0V 3.0V
IOCOM, to guarantee an OFF state.

Figure 2.7
Enable, Home, and Overtravel Digital Input Circuits
24V dc 1
I/O SUPPLY IOD-1, -4, -7, -10
INPUT IOD-2, -5, -8, -11

VCC
3k Ω
CTRL_INPUT
0.1 µF 511 Ω
IO_COM IOD-3, -6, -9, -12

1k Ω
Customer-Supplied Input Device Kinetix 6000 Drive

1
24V dc source (range) = 21.6V - 26.4V (supplied by drive, not to exceed 500 mA total).
Maximum current input = 10 mA
Figure 2.8
Registration Digital Input Circuits
+24V dc
IOD-13, -16
I/O SUPPLY
VCC
IOD-14, -17
INPUT
3k Ω 1k Ω
0.001 µF 511 Ω REG_INPUT
IOD-15, -18 HCPL-0631

IO_COM
Customer-Supplied Registration Kinetix 6000 Drive

Input Device
SERCOS Connections
Two fiber-optic connectors (transmit and receive) are provided on the

IAM and AM modules. The table below lists SERCOS communication
specifications.
Specification Description
Data Rates 2, 4, and 8 MBd
Node Addresses 01-99 1
1 Node address selection is done on the Integrated Axis Module (IAM). Node addresses for additional axes on the
same power rail are assigned by incrementing from left to right (starting with the IAM address).

Analog Outputs
The Kinetix 6000 includes two analog outputs (IOD-23 and -25) that
can be configured through software to represent drive variables.
Figure 2.9 shows the configuration of the analog outputs. The table
below provides a description of the analog outputs.
Figure 2.9
Analog Output Configuration
Oscilloscope
2.5V = 0 ref
IAM/AM CH1 CH2

2.5V
DAC
(second channel not shown)
IMPORTANT Output values can vary during power-up until the

specified power supply voltage is reached.
The following table provides a description of the analog output

specifications.

Number of states that the output signal is divided
Resolution — ±11 bits
into, which is 2(to the number of bits).
Output Current capability of the output. 0 +2 mA
Current
Output
Signal Range Range of the output voltage. 0 +5V
Offset Error Deviation when the output should be at 0V. — 1 mV

Bandwidth Frequency response of the analog output DC 7.2k Hz (3 db)
For configuration/setup of the analog outputs, refer to the Kinetix

6000 Multi-Axis Servo Drive Integration Manual (publication
2094-IN002).

Contactor Enable Relay
Contactor Enable is a relay-driven contact used in the safety control

string to protect the drive electronics during certain fault conditions. It
is capable of handling 120V ac at 1A or less. Contactor Enable is a
function of the converter, and is not available in the axis modules. An
active state indicates the drive is operational and does not have a
fault.
ATTENTION
Wiring the Contactor Enable relay is required. To
avoid injury or damage to the drive, wire the
Contactor Enable relay into your safety control string
so that:
• Three-phase power is removed from the drive in
the event of shutdown fault conditions.
• Drive operation is prevented when the Power Rail
is not fully populated.
• Control power is applied to the drive prior to
three-phase power.
Refer to Power Interconnect Diagrams on page B-3
for wiring examples.
IMPORTANT All power rail slots must have a module installed or

the contactor enable relay will not close.
Figure 2.10
Contactor Enable Relay
CONT EN+
Normally
Open
Relay
CONT EN-
IAM
The following table provides a description of the relay output

specifications.

ON State Current flow when the relay is closed — 1A
Current
ON State Contact resistance when the relay is closed — 1Ω
Resistance
OFF State
Voltage Voltage across the contacts when the relay is open — 120V

Motor/Resistive Brake Relay
Two connections are required for the (customer supplied) motor/

resistive brake input power and two connections each for the motor
and resistive brake output, as shown in the figure below. Connections
are rated for +24V and current as shown in the table below.
An active signal releases the motor brake (BC-5 and -6). The brake
signal is the same as the contactor enable signal, with the addition of
the turn-on and turn-off delays specified by the brake active delay and
brake inactive delay (software configurable in RSLogix 5000). Refer to
AM/Motor Interconnect Diagrams beginning on page B-17 and
Controlling a Brake Example (page B-25) for wiring examples.
The resistive brake relay (BC-1 and -2) controls the Resistive Brake
Module (RBM) contactor. The RBM is wired between the drive and
motor, using an internal contactor to switch the motor between the
drive and a resistive load. The RBM contact delay is the time it takes
to fully close the contactor across the motor power input lines, and
must be configured in RSLogix 5000. Refer to Resistive Brake Module
Interconnect Diagrams on page B-16 for wiring examples.
Figure 2.11
Motor Brake Relay
1 1
COM DBRK- DBRK+ MBRK- MBRK+ PWR

(BC-4) (BC-2) (BC-1) (BC-6) (BC-5) (BC-3)
1
Noise suppression device.
The following table provides a description of the relay output

specifications.
Parameter Description IAM/AM Maximum

2094-AC05-Mxx, -AC09-Mxx,
2094-AMP5, -AM01, -AM02
1.0A
2094-BC01-Mxx, -BC02-Mxx,
Current flow when the 2094-BMP5, -BM01, -BM02
ON State Current 1 relay is closed 2094-AC16-Mxx, -AC32-Mxx, 1.3A
2094-AM03, -AM05
2094-BM03, -BM05 3.0A
ON State Resistance Contact resistance when the relay is closed 1Ω

OFF State Voltage Voltage across the contacts when the relay is open 30V
1
For motors requiring more than the maximum current specified, a relay must be added.

Control Power Input
The integrated axis modules must be wired with a control power

input. Refer to Figure 2.1 for the location of the control power
connector (CPD).
IMPORTANT The control power input requires a line (EMC) filter

for CE certification. For wiring examples, refer to
figures B.3 through B.1 in Appendix B.
IMPORTANT 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.
Control power isolation, via a step-down
transformer, is required for all 460V applications.
Refer to Input Transformer for Control Power on
page A-13 for transformer power and voltage
specifications.
Control Power Current Specifications
AC Input Voltage 95-264Vrms Single-Phase

AC Input Frequency 47 - 63 Hz
The current requirements are based on axis count, as shown in the

table below.
Number of Axis Current Requirements Current Requirements Input VA

Modules1 (110V ac Input) (220V ac Input)
0 750 mA 350 mA 150 VA
1 1.5A 700 mA 200 VA
2 2.25A 1A 275 VA
3 3A 1.35A 350 VA
4 3.75A 1.7A 450 VA
5 4.5A 2A 550 VA
6 5.25A 2.4A 650 VA
7 6A 3A 750 VA
1 This number does not include the axis module (inverter section) that resides inside the integrated axis module.

Understand Feedback The Kinetix 6000 can accept motor and auxiliary feedback signals
from the following types of encoders:
Specifications
• Stegmann Hiperface
• TTL or Sine/Cosine with index pulse and Hall commutation
• Resolver Transmitter TR = 0.25 (motor feedback only)
Note: Auto-configuration in RSLogix 5000 software of intelligent
absolute, high-resolution, and incremental encoders is possible
only with Allen-Bradley motors.
Motor and Auxiliary Feedback Specifications
AM, BM, and IM Input encoder signals are filtered using analog and
digital filtering. The inputs also include illegal state change detection.
Refer to Figure 2.12 for a schematic of the AM, BM, and IM inputs.
Figure 2.12
Schematic of the Motor Encoder Inputs
+5 V
1k Ω
10k Ω
+
56 pF 1k Ω
+
1k Ω
1k Ω 56 pF
-
56 pF 100 pF
1k Ω
1k Ω 1k Ω 10k Ω
-
56 pF
56 pF
1k Ω 1k Ω 10k Ω
56 pF
10k Ω
100 pF
Drive Drive
AM and BM Channel Inputs IM Channel Input
The table below lists motor encoder feedback specifications.
Incremental, A quad B, Sine/Cosine, Intelligent, Resolver, and
Encoder Types Absolute
5.0 MHz (TTL input) per channel
Maximum Input Frequency
250 kHz (Sine/Cosine input)
Commutation Feedback Hall sensor

The following table provides a description of the AM, BM, and IM

inputs for TTL encoders.

AM, BM, and IM Input voltage difference between the + input
ON State and the - input that is detected as an ON +1.0V +7.0V
Input Voltage state.
AM, BM, and IM Input voltage difference between the + input
OFF State and the - input that is detected as an OFF -1.0V -7.0V
Input Voltage state.
Common Mode Potential difference between any encoder -7.0V +12.0V
Input Voltage signal and logic ground.
DC Current Draw Current draw into the + or - input. -30 mA 30 mA
Frequency of the AM or BM signal inputs.
AM, BM Input The count frequency is 4 times this
Signal Frequency frequency, since the circuitry counts all four — 5.0 MHz
transitions.
Pulse width of the index input signal. Since
IM Pulse Width the index is active for a percentage of a 125 nS —
revolution, the speed will determine the
pulse width.
AM, BM Phase Error Amount that the phase relationship between
2.5 MHz Line the AM and BM inputs can deviate from the -22.5° +22.5°
Frequency nominal 90°.
AM, BM Phase Error Amount that the phase relationship between
1 MHz Line the AM and BM inputs can deviate from the -45° +45°
Frequency nominal 90°.
The following table provides a description of the AM and BM inputs

for Sine/Cosine encoders.

Sine/cosine
Input Signal Frequency of the Sine or Cosine signal inputs. — 250 kHz
Frequency
Sine/cosine Peak-to-peak input voltages of the Sine or Cosine 0.5V (p-p) 2.0V (p-p)
Input Voltage inputs.
Feedback Power Supply
The IAM and AM power circuit board generates the +5V and +9V dc
for the motor and auxiliary feedback power supplies. Short circuit
protection and separate common mode filtering for each channel is
included. Refer to the table below for specifications.
Voltage Current mA
Supply Reference
Minimum Nominal Maximum Minimum Maximum
+5V dc EPWR_5V 5.13 5.4 5.67 10 400 1, 3
+9V dc EPWR_9V 8.3 9.1 9.9 10 275 2, 3
1
400 mA on the 5 volt supply split in any manner between the channels with no load on the 5 volt supply.
2 275 mA on the 9 volt supply split in any manner between the channels with no load on the 9 volt supply.
3
300 mA on the 5 volt supply on one channel with 150 mA on the 9 volt supply on the second channel.

Locate SM Connectors and Use the figure below to locate the Shunt Module connectors and
indicators. Refer to Understand External Shunt Connections on page
Indicators 3-48 when wiring the RC and TC connectors.
Figure 2.13
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
Shunt Module Connectors
Designator Description Connector

RC External Shunt Resistor Connector 3-position connector housing
TS Thermal Switch Connector 2-position connector housing
Shunt Module Connector Pin-outs
the Shunt Module (3-pin) RC connector.
RC Pin Description Signal

1 External shunt resistor connection DC+
2 Internal shunt connection INT
3 Shunt collector connection COL

the Shunt Module (2-pin) TS connector.
TS Pin Description Signal

1 External passive shunt module thermal TS1
2 switch connections TS2
Locate LIM Connectors and Use figures 2.14 and 2.15 to locate the Line Interface Module
connectors and indicators.
Indicators
Figure 2.14
Kinetix 6000 Line Interface Modules (2094-AL09 and -BL02)
Line Interface Module,

top view
230 VAC LOAD

L1
Control Power Output
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
24V dc Brake Power Output (PSL) Connector
Line Interface Module,

front view
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

Figure 2.15
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
1
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
12 3 4 5 6
I/O_COM
195-265 VAC LOAD, 50/60 Hz
24 VDC SUPPLY
1 I/O_PWR
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.

LIM Connector Pin-outs The LIM (2094-xLxxSx and xLxx) connectors are described in the table
below. LIM connector pin-outs and signal descriptions follow.
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

I/O Connector
the I/O (21-pin) IOL connector (2094-AL75S, -BL75S, and -XL75S-Cx).
IOL Pin Description Signal IOL Pin Description Signal

1 IO 24V Supply IO_PWR1 12 Alarm Common (CB1) ALRM_COM
2 IO 24V Common IO_COM1 13 Contactor Auxiliary Contact (NC) #1 IN CONSTAT_11
3 IO 24V Supply IO_PWR1 14 Contactor Auxiliary Contact (NC) #2 IN CONSTAT_12
4 IO 24V Common IO_COM1 15 Contactor Auxiliary Contact (NC) #3 IN CONSTAT_21
5 IO 24V Supply IO_PWR1 16 Contactor Auxiliary Contact (NO) #5 IN CONSTAT_22
6 IO 24V Common IO_COM1 17 Contactor Auxiliary Contact (NC) #1 OUT CONSTAT_31
7 24V Contactor Coil Positive COIL_E1 18 Contactor Auxiliary Contact (NC) #2 OUT CONSTAT_32
8 24V Contactor Coil Negative COIL_E2 19 Contactor Auxiliary Contact (NC) #3 OUT CONSTAT_53
9 Alarm Make Contact (CB1) ALRM_M 20 Contactor Auxiliary Contact (NO) #5 OUT CONSTAT_54
10 SHIELD SHIELD 21 SHIELD SHIELD
11 Alarm Break Contact (CB1) ALRM_B
Figure 2.16
Pin Orientation for 21-pin I/O (IOL) Connector
I/O (IOL) Connector

Access Door
(door open)
IOL
IOL
1 IO_PWR1
2 IO_COM1
3 IO_PWR1
1 IO_PWR1
4
6
IO_COM1
5 IO_PWR1
IO_COM1
2 IO_COM1
7 COIL_E1
8 COIL_E2
9 ALRM_M
3 IO_PWR1
10
12
SHIELD
11 ALRM_B
ALRM_COM
4 IO_COM1
13 CONSTAT_11
14 CONSTAT_12
15 CONSTAT_21
5 IO_PWR1
16
18
CONSTAT_22
17 CONSTAT_31
CONSTAT_32
6 IO_COM1
19 CONSTAT_53
20 CONSTAT_54
21 SHIELD
7 COIL_E1
8 COIL_E2
9 ALRM_M
10 SHIELD 21-pin I/O
11 ALRM_B (IOL) Connector
12 ALRM_COM
13 CONSTAT_11
14 CONSTAT_12
15 CONSTAT_21
16 CONSTAT_22
17 CONSTAT_31
18 CONSTAT_32
19 CONSTAT_53
20 CONSTAT_54
21 SHIELD

the I/O (26-pin) IOL connector (2094-AL09 and -BL02).
IOL Pin Description Signal IOL Pin Description Signal

1 Reserved — 14 Reserved —
2 Reserved — 15 Contactor Auxiliary Contact (NC) #1 IN CONSTAT_11
4 24V Contactor Coil Negative COIL_A2 17 Contactor Auxiliary Contact (NC) #3 IN CONSTAT_31
6 Contactor Auxiliary Contact (NC) #1 OUT CONSTAT_12 19 Reserved —
7 Contactor Auxiliary Contact (NC) #2 OUT CONSTAT_22 20 IO 24V Common IO_COM
10 Reserved — 23 Reserved —
11 Reserved — 24 IO 24V Supply IO_PWR
12 Reserved — 25 IO 24V Supply IO_PWR
13 24V Contactor Coil Positive COIL_A1 26 IO 24V Supply IO_PWR
Figure 2.17
Pin Orientation for 26-pin I/O (IOL) Connector
26-pin LIM
I/O Connector
Pin 18
Pin 9
Pin 26
Pin 19 Pin 1
Pin 10
Auxiliary Power Input Connector
the Auxiliary Power Input (2-pin) APL connector (2094-XL75S-Cx).
APL Pin Description Signal

1 L1
Auxiliary Power input
2 L2/N

Control Power Output Connector
the Control Power (2-pin) CPL connector (2094-AL75S, -BL75S, and
-XL75S-Cx).
CPL Pin Description Signal

2 CTRL 2
Control Power output
1 CTRL 1
the Control Power LOAD (2-pin) CPL connector (2094-AL09 and
-BL02).
CPL Pin Description Signal

2 L1
Control Power LOAD output
1 L2/N
24V dc Brake Supply Connector
The +24V supply is intended for use with mechanical motor brake or
Bulletin 2090 resistive brake module (RBM) applications.
the 24V dc brake supply (6-pin) P1L connector (2094-AL75S, -BL75S,
and -XL75S-Cx).
P1L Pin Description Signal

1 +24V dc supply IO_PWR2
2 +24V dc common IO_COM2

the 24V dc brake supply (4-pin) PSL connector (2094-AL09 and
-BL02).
PSL Pin Description Signal

1 +24V dc supply MBRK PWR
2 +24V dc common MBRK COM
3 +24V dc supply MBRK PWR
4 +24V dc common MBRK COM
VAC LINE Connector
the 3-phase input power (4-pin) IPL connector (2094-AL75S, -BL75S,
and -XL75S-Cx).
IPL Pin Description Signal

1 Chassis ground
2 L3
3 3-phase input power L2
4 L1
the 3-phase input power (4-pin) IPL connector (2094-AL09 and
-BL02).
IPL Pin
Description Signal
2094-AL09 2094-BL02
1 4 Chassis ground PE
2 3 L3
3 2 3-phase input power L2
4 1 L1
IMPORTANT Make the chassis (earth) ground connection from a

grounded configuration only (refer to Chapter 3 for
an example).

VAC LOAD Connector
the 3-phase output power (4-pin) OPL connector (2094-AL75S,
-BL75S, and -XL75S-Cx).
OPL Pin Description Signal

1 Chassis ground
2 L3’
3 3-phase output power L2’
4 L1’
the 3-phase output power (4-pin) OPL connector (2094-AL09 and
-BL02).
OPL Pin
Description Signal
2094-AL09 2094-BL02
4 1 Chassis ground PE’
3 2 L3’
2 3 3-phase output power L2’
1 4 L1’
Auxiliary Power Connector
the 230V auxiliary power (4-pin) P2L connector. This connector is
only present with catalog numbers 2094-AL75S, -BL75S, and
-XL75S-Cx.
Catalog P2L Pin Description Signal

Number
1 230V ac power supply. Can be used with AUX1_L1
2094-AL75S, 2 the Bulletin 2090 RBM or other as needed. AUX1_L2
-BL75S, and
-XL75S-C2 3 230V ac power supply. Can be used with AUX2_L1
4 the Bulletin 2090 RBM or other as needed. AUX2_L2
1 AUX1_L1
110V ac power supply. For use as needed.
2 AUX1_L2
2094-XL75S-C1
3 AUX2_L1
110V ac power supply. For use as needed.
4 AUX2_L2

Understand LIM A description of the Kinetix 6000 LIM I/O (IOL), brake power (P1L/
PSL), control power (CPL), and 230V power (P2L) signals and circuit
Signal Specifications specifications is provided on the following pages.
Note: Block diagrams for the Line Interface Modules (230V and 460V)
begin on page B-34.
LIM I/O
The LIM I/O (IOL) signals (2094-AL75S, -BL75S, and -XL75S-Cx)

include the contactor coil, alarm contacts, status contacts, and I/O
power supply. The following table provides a description and
electrical specifications for the IOL connector signals. Refer to Line
Interface Module Power Specifications on page A-6 for more
information.
Voltage (Volts) Current (Amps)

IOL Pin Signal Description
Minimum Nominal Maximum Minimum Nominal Maximum
Line contactor coil connections with an auxiliary

contact from the control power circuit breaker
IOL-8 COIL_E2 wired in series with the contactor coil. The line 18 24 30 0.005 0.011 0.017
IOL-7 COIL_E1 contactor is a safety contactor that includes
three main contacts with three auxiliary
contacts (refer to Figure 2.18).
IOL-12 ALRM_COM Non-voltage contact (ALRM_M) to indicate that
CB1 is closed (make). [DC]
— — 125 — — 1
Non-voltage contact (ALRM_B) to indicate that
IOL-9 ALRM_M CB1 is tripped (break). [DC]
IOL-11 ALRM_B
[AC] — — 250 — — 5
[AC] — — 600 — — 2
IOL-14 CONSTAT_12
IOL-13 CONSTAT_11
IOL-16 CONSTAT_22 Three safety rated auxiliary contacts which are
IOL-15 CONSTAT_21 normally closed on the line contactor (refer to
Figure 2.20).
IOL-18 CONSTAT_32 — 24 — — — 10
IOL-17 CONSTAT_31
One auxiliary contact (normally open) which is
IOL-20 CONSTAT_54 not safety rated and should not be used in a
IOL-19 CONSTAT_53 safety string.
IOL-2
IOL-4 IO_COM1 Power supply capable of supplying 24V @ 20A
IOL-6 for I/O functions and switches. Each set of pins
is capable of 8 amps. To use the full rating of 21.6 24 26.4 — — 8
IOL-1 the supply, all pins must be used to provide the
IOL-3 IO_PWR1 appropriate current rating (refer to Figure 2.22).
IOL-5
Note: For more information regarding the Bulletin 100S-C85x-14 contactor, refer to the Safety Products Catalog
(publication S115-CA001).

The LIM I/O (IOL) signals (2094-AL09 and -BL02) include the
contactor coil, status contacts, and I/O power supply. The following
table provides a description of the IOL connector signals. Refer to Line
Interface Module Power Specifications on page A-6 for auxiliary
contactor specifications.
IOL Pin Signal Description

Line contactor coil connections with an auxiliary contact from the control
IOL-4 COIL_A2 power circuit breaker wired in series with the contactor coil. The line
IOL-13 COIL_A1 contactor is a safety contactor that includes three main contacts with four
auxiliary contacts (refer to Figure 2.19).
IOL-6 CONSTAT_12
IOL-15 CONSTAT_11
IOL-7 CONSTAT_22
IOL-16 CONSTAT_21 Four pairs of auxiliary contacts which are normally closed on the line
IOL-8 CONSTAT_32 contactor (refer to Figure 2.21).
IOL-17 CONSTAT_31
IOL-9 CONSTAT_42
IOL-18 CONSTAT_41
IOL-20
IOL-21 IO_COM Power supply capable of supplying 24V @ 6A for I/O functions and
IOL-22 switches. Each set of pins is capable of 2 amps. To use the full rating of the
IOL-24 supply, all pins must be used to provide the appropriate current rating (refer
IOL-25 IO_PWR to Figure 2.23).
IOL-26

LIM Contactor Coil
For safety reasons, the internal wiring (figures 2.18 and 2.19) is
arranged so that if the control power (CPL) circuit breaker (CB2) trips,
the opening contact will interrupt the coil voltage and remove main
input power to the IAM (IPD) connector (refer to Figure 2.18).
The 2094-AL75S, -BL75S, and -XL75S-Cx modules use an AC coil and a

DC interface module allows the contactor coil to be controlled by the
24V dc output of the IAM. Additional surge suppression is not
required for all LIM contactors.
IMPORTANT Do not apply AC voltage to COIL_E1 and COIL_E2.
Figure 2.18
IOL Contactor Coil (2094-AL75S, -BL75S, and -XL75S-Cx)
CB2_AUX CR1
A1 A2
1 2 DC Interface Module
IOL-7
E1 COIL_E1
A1 E2
IOL-8
COIL_E2
1 2 1 2
FB1
3 4 3 4
CB2
The contactors in the 2094-AL09 and -BL02 use a DC coil. The

contactor coil voltage is 24V dc with a suitably rated surge suppressor
fitted inside the LIM.
Figure 2.19
IOL Contactor Coil (2094-AL09 and -BL02)
CB2_AUX
CR1
IOL-13 1 2 A1 A2 IOL-4
COIL_A1 COIL_A2
1 2
CB2 D1
3 4

LIM Safety Contactor
The LIM safety contactor (figures 2.20 and 2.21) includes three main
contacts (normally open) that close when coil power is applied.
The three auxiliary (safety) contacts (utilized in 2094-AL75S, -BL75S,

and -XL75S-Cx) are volt-free, positively guided, and mechanically
latched.
IMPORTANT A fourth volt-free normally open contact is also

available, but is not safety rated and should not be
used in a safety string.
Figure 2.20
IOL Contactor Status (2094-AL75S, -BL75S, and -XL75S-Cx)
CR1
1 2
3 4
5 6
IOL-13 IOL-14
CONSTAT_11 CONSTAT_12
IOL-15 IOL-16
IOL-17 IOL-18
IOL-19 IOL-20
A1 A2
Note: Refer to Line Interface Module Power Specifications on page A-6

for auxiliary contactor specifications.

The four auxiliary (safety) contacts (utilized in 2094-AL09 and -BL02)

are volt-free, positively guided, and mechanically latched.
Figure 2.21
IOL Contactor Status (2094-AL09 and -BL02)
CR1
1 2
3 4
5 6
IOL-15 IOL-6
IOL-16 IOL-7
IOL-17 IOL-8
IOL-18 IOL-9
A1 A2
Note: Refer to Line Interface Module Power Specifications on page A-6

for auxiliary contactor specifications.
LIM 24V Power Supply (2094-AL75S, -BL75S, and -XL75S-Cx)
The LIM 24V dc power supply (2094-AL75S, -BL75S, and -XL75S-Cx) is

capable of supplying +24V @ 20A for PLC I/O functions (IOL
connector), mechanical motor brakes, and the Bulletin 2090 Resistive
Brake Module (RBM) I/O (P1L connector). An AC line filter is placed
on the input to the supply to provide conditioning. The supply is
protected by circuit breaker CB3.
PLC I/O power is available to the user via the IOL (21-pin) terminal
block connector (as shown in Figure 2.22).
Motor brakes and the RBM I/O power is available to the user via the
P1L (6-pin) connector. Each P1L output contains an LC circuit to
prevent electrical noise contamination of the 24V supply and an MOV
to prevent current surges from the motor brake (as shown in Figure
2.22).
IMPORTANT Use the P1L +24V dc supply with devices that can
potentially generate flyback currents (brake coils,
relays, etc.).

Figure 2.22
IOL Power Supply (2094-AL75S, -BL75S, and -XL75S-Cx)

IOL-1
CB3 PS1 IOL-3
IO_PWR1
1 2 IOL-5
L1 24V+
AC Line Filter
3 4 480W, 20A
L2 Power Supply
IOL-2
PE 24V-
IOL-4
IO_COM1
IOL-6
P1L-1
P1L-3
IO_PWR2
P1L-5
P1L-2
P1L-4
IO_COM2
P1L-6
Interface PCB
IMPORTANT Each set of pins (IO_PWR1 and IO_PWR2) is rated at

8 amps (not to exceed 20A for combined IOL and
P1L use).

LIM I/O Power Supply (2094-AL09 and -BL02)
The LIM I/O power supply (2094-AL09 and -BL02) is capable of

supplying 24V @ 6A for PLC I/O functions and switches. It is available
to the user via the IOL (26-pin) D-sub connector (as shown in Figure
2.23). A single-phase filter is placed on the input to the supply to
provide conditioning. The supply is protected by circuit breaker CB1.
ATTENTION When current draw exceeds 2A (IOL-24, -25, or -26),

multiple pins must be used to provide appropriate
current rating and avoid connector damage.
Figure 2.23
IOL Power Supply (2094-AL09 and -BL02)
Line Interface Module IOL-26

CB1
PS2 IOL-25
IO_PWR
1 2 IOL-24
4 1
AC Line Filter
3 4 150W, 6A
5 Power Supply
IOL-20
3 2
IOL-21
IO_COM
IOL-22

LIM Brake Power Supply (2094-AL09 and -BL02)
A +24V dc supply is provided on the PSL connector (2094-AL09 and

-BL02) for mechanical motor brakes and the Bulletin 2090 Resistive
Brake Module I/O. The supply has over-current protection and is
isolated from all other supplies. A single-phase filter placed on the
input to the supply to provide conditioning. The supply is protected
by circuit breaker CB1.
Note: The PSL brake power supply is rated at 2A. If more current is
required, consider using the IOL power supply.
IMPORTANT Use the PSL +24V dc supply with devices that can
potentially generate flyback currents (brake coils,
relays, etc.). This supply requires external flyback
protection with either a diode or MOV.
Figure 2.24
PSL Power Supply (2094-AL09 and -BL02)
CB1 Line Interface Module

PS1
PSL-1
1 2 MBRK PWR
4 1 PSL-3
AC Line Filter
3 4 50W, 2A
5 24V dc Power Supply
3 2 PSL-2
MBRK COM
PSL-4

LIM Control Power
LIM Control power is provided as shown in the table below.
Catalog Number Input Voltage Control Power Source

2094-AL75S Two phases of incoming power
230V ac (internal connections).
2094-AL09
2094-XL75S-C1 Auxiliary 110V ac input (APL) connector.
230/460V ac
2094-XL75S-C2 Auxiliary 230V ac input (APL) connector.
2094-BL75S
460V ac Internal step down transformer.
2094-BL02
The control power supply is protected by a single 2-pole circuit

breaker (CB2). A single-phase filter is placed in the control VAC
supply to provide protection/conditioning. For safety reasons, the
internal wiring is arranged so that, if the control power (CPL) circuit
breaker (CB2) trips, the opening contact will interrupt the coil voltage.
Circuit breaker CB2 is field replaceable.
Refer to Line Interface Module Power Specifications on page A-6 for

control power specifications.
Figure 2.25
CPL Power Supply (2094-AL75S, -BL75S, and -XL75S-Cx)

CB2_AUX
1 2 1 2 CPL-2
CTRL 2
Single-Phase
FB1 CB2
4 3 4 AC Line Filter CPL-1
3 CTRL 1
Figure 2.26
CPL Power Supply (2094-AL09 and -BL02)
CB2_AUX
1 2 CPL-2
L1
Single-Phase
CB2
AC Line Filter 4 CPL-1
3
L2/N

Auxiliary Power Output
An auxiliary 230V ac output is provided for use with the Bulletin 2090
Resistive Brake Module (RBM) or other customer requirement as
needed on the P2L connector. This supply is present with catalog
numbers 2094-AL75S, -BL75S, and -XL75S-C2. The supply is protected
by circuit breaker CB2.
Note: Auxiliary Power Output (P2L) is 110V ac with catalog number

2094-XL75S-C1.
Figure 2.27
P2L 230V Power (2094-AL75S, -BL75S, and -XL75S-C2)
CB2 Line Interface Module

FB1
1 2 1 2 P2L-1
AUX1_L1
3 4 3 4 P2L-2
AUX1_L2
P2L-3
AUX2_L1
P2L-4
AUX2_L2

Auxiliary Power Output (P2L) specifications.
Auxiliary Power Input
The Auxiliary Power Input (APL) connector is available only with

catalog numbers 2094-XL75S-C1 and -XL75S-C2. This connector allows
the customer to provide a separate auxiliary power source,
independent from the mains supply, for control power and other uses.
The APL connector will accept either 110V (2094-XL75S-C1) or 230V

ac (2094-XL75S-C1) input voltage. As a result, the Auxiliary Power
Output (P2L) and Control Power Output (CPL) voltage is 110V or
230V ac respectively. The 24V power supply is designed to operate on
either 110V or 230V ac and will auto-detect the input voltage.

Auxiliary Power Input (APL) and Auxiliary Power Output (P2L)
specifications.
Refer to Figure B.29 (on page B-32) for the 2094-XL75S-Cx block
diagram.


Chapter 3
Connect Your Kinetix 6000
Chapter Objectives This chapter provides procedures for wiring your Kinetix 6000 and
making cable connections. This chapter includes:
• Understand Basic Wiring Requirements

• Determine Your Type of Input Power
• DC Common Bus Configurations
• Set the Ground Jumper in Ungrounded Power Configurations
• Ground Your Kinetix 6000
• Power Wiring Requirements
• Connect Input Power
• Safe-Off Connections
• Wire the Contactor Enable Connector
• Connect Motor Power and Brakes
• Understand Feedback and I/O Cable Connections
• Understand External Shunt Connections
• Understand Resistive Brake Module Connections
• Connect Your SERCOS Fiber-Optic Cables
Understand Basic Wiring This section contains basic wiring information for the Kinetix 6000.
Requirements
ATTENTION Plan the installation of your system so that you can
perform all cutting, drilling, tapping, and welding
with the system removed from the enclosure.
Because the system is of the open type construction,
be careful to keep any metal debris from falling into
it. Metal debris or other foreign matter can become
lodged in the circuitry, which can result in damage
to components.

3-2 Connect Your Kinetix 6000
SHOCK HAZARD 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.
IMPORTANT This section contains common PWM servo system

wiring configurations, size, and practices that can be
used in a majority of applications. National Electrical
Code, local electrical codes, special operating
temperatures, duty cycles, or system configurations
take precedence over the values and methods
provided.
Build Your Own Cables
IMPORTANT Factory made cables are designed to minimize EMI

and are recommended over hand-built cables to
ensure system performance.
When building your own cables, follow the guidelines listed below.
• Connect the cable shield to the connector shells on both ends of

the cable with a complete 360° connection.
• Use a twisted pair cable whenever possible. Twist differential
signals with each other and twist single-ended signals with the
appropriate ground return.
Refer to Appendix C for low profile connector kit, mating connector

kits, and motor connector kit, catalog numbers.
Route Power and Signal Wiring
Be aware that when you route power and signal wiring on a machine
or system, radiated noise from nearby relays, transformers, and other
electronic drives, can be induced into motor or encoder feedback,
communications, or other sensitive low voltage signals. This can cause
system faults and communication problems.
Refer to Chapter 1 for examples of routing high and low voltage

cables in wireways. Refer to System Design for Control of Electrical
Noise Reference Manual (publication GMC-RM001) for more
information.

Connect Your Kinetix 6000 3-3
Determine Your Type of Before wiring input power to your Kinetix 6000 system you must
determine the type of input power you are connecting to. The IAM is
Input Power designed to operate in both grounded and ungrounded environments.
ATTENTION When using a LIM with your Kinetix 6000, the VAC
LINE input power must come from a grounded
configuration (refer to Figure 3.1).
When not using a LIM with your Kinetix 6000,
ungrounded configurations are allowed, but you
must set the jumper to prevent high electrostatic
build-up (refer to Set the Ground Jumper in
Ungrounded Power Configurations on page 3-7).
Grounded Power Configurations
The grounded (WYE) power configuration allows you to ground your

3-phase power at a neutral point, as shown in Figure 3.1. This type of
grounded power configuration is preferred.
Figure 3.1
Grounded Power Configuration (WYE Secondary)

(2094-BCxx-Mxx-S is shown)
CTRL 2
1 2
Transformer (WYE) Secondary CTRL 1
1 2 3 4
DC-
1 2 3 4 5 6
L3 W
DC+
V
Transformer U
L3
L2
1 2 3 4 5 6 7 8 9
MBRK -
L2
1 2 3 4 5 6
MBRK +
L1 COM
3-Phase L1 CONT EN-
PWR
DBRK -
1 2
Input VAC CONT EN+ DBRK +
RX TX BAUD
DPI RATE
Phase Ground
Bonded cabinet
ground
Ground grid or to Power Rail ground stud

power distribution ground

Figure 3.2 shows an example of grounded B-phase (delta secondary).
Figure 3.2
Grounded (B-Phase) Power Configuration (Delta Secondary)

CTRL 2
1 2
CTRL 1
1 2 3 4
Transformer (Delta) Secondary DC-
1 2 3 4 5 6
W
DC+
V
Transformer L3 U
L3
1 2 3 4 5 6 7 8 9
MBRK -
L2
1 2 3 4 5 6
MBRK +
L1 COM
PWR
CONT EN- DBRK -
1 2
CONT EN+ DBRK +
L2
RX TX BAUD
DPI RATE
L1
Bonded cabinet to Power Rail ground stud

ground
Ground grid or
power distribution ground
The Integrated Axis Module (IAM) has a factory-installed ground

jumper configured for grounded power distribution.
IMPORTANT If you determine that you have grounded power

distribution in your plant, you do not need to modify
your IAM. Go to Ground Your Kinetix 6000.

Ungrounded Power Configurations
Ungrounded power configurations are allowed, but you must jumper

across a 120k ohm resistor (internal to the IAM) to prevent high
electrostatic build-up. The ungrounded power configuration does not
allow for a neutral ground point, as shown in the figure below. The
Integrated Axis Module (IAM) has a factory-installed ground jumper
configured for grounded power distribution.
IMPORTANT If you determine that you have ungrounded power

distribution in your plant (as shown in the figure
below), you need to move the factory-installed
jumper to the ungrounded power distribution
position to prevent electrostatic buildup inside the
IAM. Refer to Set the Ground Jumper in Ungrounded
Power Configurations beginning on page 3-7 for
instructions.
Figure 3.3
Ungrounded Power Configuration

CTRL 2
1 2
CTRL 1
1 2 3 4
DC-
1 2 3 4 5 6
L3 DC+
W
Transformer V
U
L2 L3 1 2 3 4 5 6 7 8 9
MBRK -
L2
1 2 3 4 5 6
3-Phase MBRK +
L1
Input VAC COM
L1 CONT EN-
PWR
DBRK -
1 2
CONT EN+ DBRK +
RX TX BAUD
DPI RATE
Chassis Ground
Bonded cabinet
ground
to Power Rail ground stud
ATTENTION
Ungrounded systems do not reference each
phase potential to a power distribution ground.
This can result in an unknown potential to
earth ground.

DC Common Bus When an IAM is used in a DC common bus configuration, the IAM is
known as a Leader IAM or Follower IAM. The IAM (non-common bus)
Configurations and Leader IAM have identical three-phase input power connections.
The Leader IAM is responsible for discharging the DC bus, and for
providing common bus follower drives with DC bus pre-charge, bus
regulation, phase-loss detection, and ground fault detection. Follower
IAMs do not have three-phase input power connections, but have DC
bus connections from a Leader IAM (refer to Figure 3.4).
An IAM referred to as Is wired And is

IAM With three-phase input power. Not wired in common bus mode.
With three-phase input power, but has DC common
Leader IAM Wired in common bus mode.
bus connections to a Follower IAM.
Without three-phase input power, but has DC Wired in common bus mode and
Follower IAM
common bus connections from a Leader IAM. configured using RSLogix 5000.
IMPORTANT The Kinetix 6000 must be using firmware v1.85 and

RSLogix 5000 v15 software for DC common bus
power configurations.
The Kinetix 6000 Leader IAM can operate with non-Kinetix 6000
follower drives, as can the Kinetix 6000 Follower IAM operate with
(non-Kinetix 6000) common bus leader drives. However, non-Kinetix
6000 leader and follower drives must meet the same functional
requirements as the Kinetix 6000 Leader and Follower IAMs.
IMPORTANT Any non-Kinetix 6000 common bus leader that does

not provide pre-charge is required to add an
additional external pre-charge circuit before
connecting to any Kinetix 6000 common bus
Follower IAM.
Figure 3.4
Typical DC Common Bus Configuration
Integrated Axis Module Axis Modules Integrated Axis Module Axis Modules
(2094-BCxx-Mxx) (2094-BMxx) (2094-BCxx-Mxx) (2094-BMxx)
Common Bus Leader IAM Common Bus Follower IAM
Bonded cabinet CTRL 2

1 2
CTRL 2
1 2
CTRL 1
1 2 3 4
1 2 3 4
CTRL 1
1 2 3 4
1 2 3 4
ground W W W W
1 2 3 4
1 2 3 4
DC- V V DC- V V
1 2 3 4 5 6
1 2 3 4 5 6
W W
DC+ U U DC+ U U
V V
U MBRK - MBRK -
U MBRK - MBRK -
L3
1 2 3 4 5 6
1 2 3 4 5 6
L3
1 2 3 4 5 6
1 2 3 4 5 6
1 2 3 4 5 6 7 8 9
1 2 3 4 5 6 7 8 9
1 2 3 4 5 6 7 8 9
1 2 3 4 5 6 7 8 9
1 2 3 4 5 6 7 8 9
MBRK + MBRK +
1 2 3 4 5 6 7 8 9
MBRK + MBRK +
MBRK -
L2
1 2 3 4 5 6
MBRK -
L2
1 2 3 4 5 6
COM COM COM COM
Three-Phase MBRK + MBRK +

PWR PWR L1 PWR PWR
L1 COM COM
DBRK - DBRK - PWR DBRK - DBRK -
PWR
DBRK + DBRK + CONT EN- DBRK - DBRK + DBRK +
1 2
CONT EN-
Input Power
DBRK -
1 2
CONT EN+ DBRK + CONT EN+ DBRK +
RX TX RX TX RX TX RX TX
BAUD BAUD RX TX BAUD
BAUD BAUD
RX TX BAUD
RATE RATE DPI RATE RATE RATE
DPI RATE
DC Common Bus N.C.

Connections N.C.
N.C.

Common Bus Fusing Requirements
When using a Kinetix 6000 Leader IAM, DC bus fuses are only
required when wiring to more than one Kinetix 6000 Follower IAM.
When wiring multiple Follower IAMs, terminal blocks are required to
extend the DC common bus power to additional drives. Fuses should
be installed in both lines of the DC bus between the DC bus terminal
block and each Follower IAM. These fuses should be rated based on
the DC input current of each Follower IAM.
When using a non-Kinetix 6000 common bus leader, DC bus fuses are
required in both lines of the DC bus, between the common bus leader
and Follower IAM. These fuses should be rated based on the leader’s
DC output current. When using more than one Follower IAM, fuses
should be installed in both lines of the DC bus between the
non-Kinetix 6000 common bus leader and the terminal block as well
as between the DC bus terminal block and each Follower IAM.
Refer to Circuit Breaker/Fuse Specifications on page A-11 for

recommended fuse sizes. Refer to DC Common Bus Interconnect
Diagrams on page B-8 for interconnect diagrams.
Set the Ground Jumper in Setting the ground jumper is only necessary when using an
ungrounded power configuration (as shown in Figure 3.3). Setting the
Ungrounded Power jumper involves removing the IAM from the power rail, opening the
Configurations IAM, and moving the jumper.
IMPORTANT If you have grounded power distribution, you do not

need to set the ground jumper. Go to Ground Your
Kinetix 6000.
When using ungrounded input power in common bus configurations,

use the table below to determine where to set the ground jumper.
Then set the jumper in this

When leader drive is And follower drive is
drive
Kinetix 6000 IAM Kinetix 6000 IAM Leader Drive
Kinetix 6000 IAM non-Kinetix 6000 IAM Leader Drive
Follower Drive (if no setting
non-Kinetix 6000 IAM Kinetix 6000 IAM
exists in the leader drive).

Remove the IAM from the Power Rail
Setting the ground jumper is best done with the IAM removed from
the power rail and placed face-up on a solid surface equipped as a
grounded static safe workstation.
ATTENTION To avoid personal injury and/or equipment damage,

remove the IAM from the power rail before setting
the ground jumper.
ATTENTION This drive contains ESD (Electrostatic Discharge)

To remove the IAM from the power rail:
1. Verify that all control and input power has been removed from the
system.
2. Loosen the IAM mounting screw (bottom center of IAM). Refer to

Figure 2.1 for an illustration.
3. Grasp top and bottom of IAM with both hands and gently pull the
IAM away from the connectors enough to clear the guide pins
(IAM will pivot on top bracket). Lift the bracket out of the power
rail slot and remove IAM from the power rail. Refer to figures 1.28,
1.29, and 1.30 for illustrations.
4. Place the IAM (with front panel facing up) on a grounded static
safe workstation.

Set the Ground Jumper
To set the ground jumper:
1. Remove the top and bottom front panel screws. Use the table
below to locate the front panel screws and ground jumper.
For this IAM Refer to

2094-ACxx-Mxx (230V) Figure 3.5
2094-BCxx-Mxx (460V) Figure 3.6
Figure 3.5
Setting the 230V Ground Jumper
Top Screw
P17
P16 Integrated Axis Module (230V)

2094-ACxx-Mxx
P15
Ground jumper set

for ungrounded configuration
Ground jumper set

for grounded configuration
(factory default setting)
Front Panel (opened) Bottom Screw

Figure 3.6
Setting the 460V Ground Jumper
Top Screw
Integrated Axis Module (460V)

2094-BCxx-Mxx
P13
P14
P12
Ground jumper set

for ungrounded configuration
Ground jumper set

for grounded configuration
(factory default setting)
Front Panel (opened)

Bottom Screw
2. Swing the front panel open to the right, as shown, and locate the
ground jumper.
IMPORTANT Do not attempt to remove the front panel from

the IAM. The front panel LEDs, switches, etc. are
also connected to the IAM with a ribbon cable.
The ribbon cable will act like a hinge and allow
you to swing the front panel open and access the
ground jumper.
3.
And move the
For this IAM Refer to ground jumper
from
2094-ACxx-Mxx Figure 3.5 P16 to P17
(230V)
2094-BCxx-Mxx
Figure 3.6 P14 to P12
(460V)
4. Replace the IAM front panel and two screws. Apply 1.6 N-m (14
lb-in.) torque.
5. Mount the IAM back on the power rail. Refer to Mount Your
Integrated Axis Module in Chapter 1 for instructions.

Ground Your Kinetix 6000 We recommend that all equipment and components of a machine or
process system have a common earth ground point connected to their
chassis. A grounded system provides a ground path for short circuit
protection. Grounding your modules and panels minimize shock
hazard to personnel and damage to equipment caused by short
circuits, transient overvoltages, and accidental connection of
energized conductors to the equipment chassis. For CE grounding
requirements, refer to Chapter 1.

subpanel, construct your subpanel out of zinc plated
(paint-free) steel.
Ground Your System to the Subpanel
In the figure below, the power rail is shown properly grounded to the
bonded cabinet ground on the subpanel.
ATTENTION The National Electrical Code contains grounding

requirements, conventions, and definitions. Follow
all applicable local codes and regulations to safely
ground your system. Refer to Appendix B for the
Kinetix 6000 interconnect diagrams.
Figure 3.7
Chassis Ground Configuration
Kinetix 6000
Bonded Cabinet Ground
Power Rail
Braided
Ground Strap Ground grid or power
distribution ground

Ground Multiple Subpanels
To extend the chassis ground to multiple subpanels, refer to the figure

below.
Note: HF bonding is not illustrated. For HF bonding information, refer

to Bonding Multiple Subpanels on page 1-21.
Figure 3.8
Subpanels Connected to a Single Ground Point
Always follow NEC and

applicable local codes
Bonded Ground Bus
Ground grid or power

distribution ground
Motor Power Cable Shield Termination
Factory supplied motor power cables for MP-Series, TL-Series,

1326AB, F-, H-, N-, and Y-Series motors are shielded, and the braided
cable shield must terminate at the drive during installation. A small
portion of the cable jacket must be removed to expose the shield
braid. The exposed area must be clamped (using the clamp provided)
on top of the IAM or AM, as shown in Figure 3.9, and the power wires
terminated in the motor power (MP) connector plug.
SHOCK HAZARD To avoid hazard of electrical shock, ensure shielded

power cables are grounded at a minimum of one
point for safety.

Motors with power cables that include only the 3-phase motor power
wires are listed in the table below.
For this Motor Catalog Number Use this Motor Power Cable
MP-Series Low Inertia MPL-A/BxxxxS/M
MP-Series Integrated Gear MPG-A/BxxxxS/M 2090-XXNPMP-xxSxx
1326AB (M2L/S2L) 1326AB-Bxxxx-M2L/S2L
TL-Series TL-Axxxx-H 2090-XXNPT-16Sxx
H- or F-Series H-xxxx or F-xxxx 2090-XXNPH/HF-xxSxx
N-Series N-xxxx 2090-XXNPN-16Sxx
These motors have a separate connector on the motor for brake

connections and thermal switch wires are included in the feedback
cable. Refer to AM/Motor Interconnect Diagrams beginning on page
B-17 for the interconnect diagram.
Figure 3.9
Motor Power Terminations (3-phase wires only)
Motor Cable
Shield Clamp Cable Clamp
(with tie wrap)
CTRL 2 Motor Power (MP) Connector Plug

CTRL 1
4
DC-
3
W
DC+
2
V
1
U
L3
MBRK -
L2
MBRK +
L1 COM
PWR
CONT EN- DBRK -
CONT EN+ DBRK +
RX TX BAUD
DPI RATE
Note: The cable shield clamp shown above is mounted to an IAM.

Cables attach to the clamp on each AM in the same way.
IMPORTANT Securing the cable shield in the clamp with a tie

wrap is recommended to improve stress relief.
Note: For information on grounding the TL-Series motor cable to the

machine frame, refer to Ground TL- and Y-Series Motor Power
Cables on page 3-16.

Motors with power cables that include the 3-phase motor power and
brake wires are listed in the table below.
MP-Series Food Grade MPF-A/BxxxxS/M
2090-XXNPMF-xxSxx
MP-Series Stainless Steel MPS-A/BxxxxS/M
Y-Series Y-xxxx 2090-XXNPY-16Sxx
The MP-Series brake wires have a shield braid (shown below as gray)
that folds back under the cable clamp before the conductors are
attached to the motor brake (BC) connector. Y-Series brake wires are
not shielded and do not require routing under the cable clamp.
Note: The thermal switch wires for the MP-Series motors are included
in the feedback cable. Refer to AM/Motor Interconnect
Diagrams beginning on page B-17 for the interconnect diagram.
Figure 3.10
Motor Power Terminations (3-phase and brake wires)
Motor Cable
Y-Series brake wires are not Shield Clamp
shielded and do not require routing (with tie wrap)
under the cable clamp.
CTRL 2
CTRL 1
1 2 3 4
DC-
W Motor Power
DC+ (MP) Connector
V
U
L3
MBRK -
L2
1 2 3 4 5 6
MBRK +
L1 COM
PWR Resistive/Motor Brake
CONT EN-
CONT EN+
DBRK - (BC) Connector
DBRK +
RX TX BAUD
DPI RATE


Note: For information on grounding the Y-Series motor cable to the

machine frame, refer to Ground TL- and Y-Series Motor Power
Cables on page 3-16.

Motors with power cables that include the 3-phase motor power,
brake wires, and thermal switch wires are listed in the table below.
1326AB (resolver) 1326AB-Bxxxx-21 1326-CPx1-xxx
To improve the EMC performance of your system, route the wires as

shown in the figure below and reference Figure B.18 in Appendix B
for the interconnect diagram.
Figure 3.11
Motor Power Terminations (3-phase, brake, and thermal switch wires)
Low Profile motor feedback connector MF-16

(2090-K6CK-D15MF) pins 16, 17, and S MF-17 Thermal Switch
provide filtering for 1326-CPx1-xxx cables Wires
(refer to Figure 3.19 for illustration). MF-S
Terminal Block (mounted on DIN rail)

Refer to Figure 1.8 in Chapter 1 for treatment
of painted panels
Cable Clamp
Thermal Switch Wires (with tie wrap)
CTRL 1
CTRL 2
1 2 3 4
DC- Motor Power
W
DC+ (MP) Connector
V
U
L3
MBRK -
L2
1 2 3 4 5 6
MBRK +
L1 COM
PWR Resistive/Motor Brake
CONT EN- DBRK - (BC) Connector
CONT EN+ DBRK +
Keep wires separated

as much as possible RX
DPI
TX BAUD
RATE



Ground TL- and Y-Series Motor Power Cables
TL- and Y-Series motors have a short pigtail cable which connects to
the motor, but is not shielded. The preferred method for grounding
the TL- and Y-Series motor power cable on the motor side is to
expose a section of the cable shield and clamp it directly to the
machine frame. The motor power cable also has a 150 mm (6.0 in.)
shield termination wire with a ring lug that connects to the closest
earth ground. Use this method in addition to the cable clamp. The
termination wire may be extended to the full length of the motor
pigtail if necessary, but it is best to connect the supplied wire directly
to ground without lengthening. Refer to Figure 3.12 for an illustration.
Figure 3.12
TL- and Y-Series Motor Power Cable Connection
Cable Braid Clamped
to Machine Frame1 Connectors
Motor Power Cable Pigtail Cable
TL-Series or
Y-Series
Motor
150 mm (6.0) Termination
Machine Frame 1 1
1
Remove paint from machine frame to ensure proper HF-bond between machine frame and motor case, shield
clamp, ground stud, etc.

Power Wiring Power wiring requirements are given in the tables below. Wire should
be copper with 75° C (167° F) minimum rating. Phasing of main AC
Requirements power is arbitrary and earth ground connection is required for safe
and proper operation.
IMPORTANT The National Electrical Code and local electrical

codes take precedence over the values and methods
provided.
IAM Power Wiring Requirements
Connects to Terminals Recommended

Strip Length Torque Value
Module Catalog Number Description Wire Size
mm (in.) Nm (lb-in.)
Pin Signal mm2 (AWG)
2094-AC05-Mxx 0.5 - 0.6
2.5 (14) 10 (0.38)
2094-AC09-Mxx (4.4 - 5.3)
IAM
(230V) 2094-AC16-Mxx IPD-1 DC- 10 (8) 2.4 - 3.0
IPD-2 DC+ 16 (0.63)
2094-AC32-Mxx DC Bus 1 25 (4) (21.6 - 26.5)
IPD-3
and
2094-BC01-Mxx IPD-4 L3 1.2 - 1.5
AC Input Power 4.0 (12) 10 (0.38)
2094-BC02-Mxx IPD-5 L2 (10.6 - 13.2)
IAM IPD-6 L1
(460V) 2094-BC04-Mxx 10 (8) 2.4 - 3.0
16 (0.63)
2094-BC07-Mxx 25 (4) (21.6 - 26.5)
CPD-1 CTRL 2 0.5 - 0.6

Control Input Power 2.5 (14)
CPD-2 CTRL 1 (4.4 - 5.3)
IAM
2094-xCxx-Mxx 10 (0.38)
(230V or 460V) CED-1 CONT EN- 0.5 - 0.6
Contactor Enable 2.5 (14) 2
CED-2 CONT EN+ (4.4 - 5.3)
1
DC common bus connections (Leader IAM to Follower IAM) should be kept as short as possible.
2
The actual gauge of the contactor enable wiring depends on the system configuration. Consult your machine
builder, the NEC, and applicable local codes.

IAM/AM Power Wiring Requirements

Module Catalog Number Description Wire Size
2094-AC05-Mxx
2094-AC09-Mxx
2094-BC01-Mxx Motor power 0.5 - 0.6
2094-BC02-Mxx cable depends 10 (0.38)
(4.4 - 5.3)
2094-AMP5, -AM01, on motor/drive
-AM02, -BMP5, -BM01, MP-4 combination,
and -BM02 MP-3 W
Motor Power
MP-2 V 6 (10) maximum
2094-AC16-Mxx
MP-1 U 1.2 - 1.5
2094-AC32-Mxx 10 (0.38)
(10.6 - 13.2)
2094-AM03, -AM05
2094-BC04-Mxx
2.4 - 3.0
IAM or AM 2094-BC07-Mxx 25 (4) maximum 16 (0.63)
(21.6 - 26.5)
2094-BM03, -BM05
BC-6 MBRK-
IAM or AM BC-5 MBRK+
(230 or 460V) BC-4 COM 0.22 - 0.25
Brake Power 0.75 (18) 10 (0.38)
2094-xCxx-Mxx and BC-3 PWR (1.9 - 2.2)
2094-xMxx BC-2 DBRK-
BC-1 DBRK+
IAM or AM
(230 or 460V) Refer to the Kinetix Safe-Off Feature Safety Reference Manual (publication
Safe-Off
2094-xCxx-Mxx-S and GMC-RM002) for safe-off wiring requirements.
2094-xMxx-S

LIM Power Wiring Requirements
Use the table below to determine the recommended wire size and
torque value when wiring the Line Interface Modules (2094-AL75S,

Description Wire Size
IPL-1
IPL-2 L3
VAC LINE
IPL-3 L2
IPL-4 L1 2.5-25 2.7
16 (0.63)
(14-3) (24)
OPL-1
OPL-2 L3’
VAC LOAD
OPL-3 L2’
OPL-4 L1’
APL-1 L1 0.2-4.0 0.5 - 0.6
Auxiliary Power Input 1 7 (0.28)
APL-2 L2/N (24-10) (4.4 - 5.3)
CPL-1 CTRL 1 0.2-4.0 0.5 - 0.6

Control Power Output 7 (0.28)
CPL-2 CTRL 2 (24-10) (4.4 - 5.3)
P2L-1 AUX1_L1
P2L-2 AUX1_L2 0.2-4.0 0.5 - 0.6
Auxiliary Power Output 7 (0.28)
P2L-3 AUX2_L1 (24-10) (4.4 - 5.3)
P2L-4 AUX2_L2
P1L-1 IO_PWR2
P1L-2 IO_COM2
Brake and I/O Power P1L-3 IO_PWR2 0.08-1.5
7 (0.28) 0.22-0.25 (2)
Output P1L-4 IO_COM2 (28-16)
P1L-5 IO_PWR2
P1L-6 IO_COM2
Status I/O 0.5-1.5
IOL-1 thru IOL-21 6 (0.25) 1.13 (10)
(21 pin terminal block) (22-14)
1
The Auxiliary Power Input (APL) connector is only present on catalog number 2094-XL75S-Cx.

Use the table below to determine the recommended wire size and
torque value when wiring the Line Interface Modules (2094-AL09 and
-BL02)

Module Description Wire Size
IPL-1
IPL-2 L3
VAC LINE
IPL-3 L2
IPL-4 L1
LIM (230V) 0.5 - 0.6
2.5 (14) 10 (0.38)
2094-AL09 (4.4 - 5.3)
OPL-4
OPL-3 L3’
VAC LOAD
OPL-2 L2’
OPL-1 L1’
IPL-4
IPL-3 L3
VAC LINE
IPL-2 L2
IPL-1 L1
LIM (460V) 1.5 - 1.8
4.0 (12) 10 (0.38)
2094-BL02 (13.2 - 15.9)
OPL-1
OPL-2 L3’
VAC LOAD
OPL-3 L2’
OPL-4 L1’
Control Power CPL-2 L1

Output CPL-1 L2/N
PSL-1 MBRK PWR 0.5 - 0.6
LIM (230V or 460V) 2.5 (14) 10 (0.38)
Brake and I/O Power PSL-2 MBRK COM (4.4 - 5.3)
Output PSL-3 MBRK PWR
PSL-4 MBRK COM
Shunt Module Power Wiring Requirements

Torque Value
Module Description Wire Size
Nm (lb-in.)
RC-1 DC+
1394-SR-xxxx
1.2 - 1.5
External Passive RC-2 INT 10 (8) 1
(10.6 - 13.2)
SM (230/460V) Shunt Module
RC-3 COL
2094-BSP2
TS-1 TS1 0.22 - 0.25
Thermal Switch 0.75 (18)
TS-2 TS2 (1.9 - 2.2)
1
105° C (221° F), 600V.

For additional information refer to Power Specifications in Appendix A.

Refer to Appendix B for the Kinetix 6000 interconnect diagrams.
ATTENTION
This drive contains ESD (Electrostatic Discharge)
ATTENTION To avoid personal injury and/or equipment damage,

ensure installation complies with specifications
regarding wire types, conductor sizes, branch circuit
protection, and disconnect devices. The National
Electrical Code (NEC) and local codes outline
provisions for safely installing electrical equipment.
To avoid personal injury and/or equipment damage,
ensure motor power connectors are used for
connection purposes only. Do not use them to turn
the unit on and off.
To avoid personal injury and/or equipment damage,
ensure shielded power cables are grounded to
prevent potentially high voltages on the shield.

Connect Input Power These procedures assume you have mounted your Kinetix 6000 drive
components and are ready to wire the AC input power.
Connect the Braided Ground Strap
To connect the braided ground strap:
1. Verify that one end of your braided ground strap is connected to

either the power rail or mounting bracket ground stud. Refer to
Mount Your Kinetix 6000 Drive System beginning on page 1-37 for
examples.
IMPORTANT When 2094 mounting brackets are used to mount

the power rail over the AC line filter, the braided
grounding strap must be removed from the
power rail and attached to a mounting bracket
grounding stud.
2. Connect the other end of your braided ground strap to the bonded
cabinet ground bus. For more information on bonding, refer to
Chapter 1.
3.
If Your System Then Go To
Includes the Line Interface Connect Input Power (IAM
Module (LIM) with LIM)
Does not include the Line Connect Input Power (IAM
Interface Module (LIM) without LIM)
Connect Input Power (IAM with LIM)
This procedure assumes you have an IAM or Leader IAM and LIM
mounted on your panel and are ready to wire the AC input power.
IMPORTANT When tightening screws to secure the wires, refer to

the tables beginning on page 3-17 for torque values.
When removing insulation from wires, refer to the
tables beginning on page 3-17 for strip lengths.
IMPORTANT To ensure system performance, run wires and cables

in the wireways as established in Chapter 1.

Wire the Auxiliary Input Power Connector (LIM)
Note: The Auxiliary Input Power (APL) connector is present only on

the 2094-XL75S-Cx model.
To wire the Auxiliary Input Power (APL) connector:
1. Prepare the incoming single-phase power wires for attachment to

the APL connector by removing insulation equal to the
recommended strip length (refer to Figure 2.15 for connector
location).
IMPORTANT Use caution not to nick, cut, or otherwise

damage strands as you remove the insulation.
2. Route the single-phase power wires (L1 and L2/N) to your LIM.
3.
Into this terminal on the
Insert this wire from the APL connector
single-phase supply 2094-XL75S-Cx (LIM)
APL Pin Signal
L1 1 L1
L2 2 L2/N
4. Tighten the APL connector screws (APL-1 and -2).
5. Gently pull on each wire to make sure it does not come out of its
terminal. Re-insert and tighten any loose wires.

Wire the VAC LINE Connector (LIM)
To wire the VAC LINE (IPL) connector:
1. Prepare the incoming 3-phase power wires for attachment to the

IPL connector by removing insulation equal to the recommended
strip length (refer to figures 2.14 and 2.15 for connector location).

2. Route the 3-phase power wires (L1, L2, L3 and ground) to your
LIM.
3.
Into this terminal on the IPL connector (LIM)
Insert this wire from 2094-AL09, -AL75S,
2094-BL02
the 3-phase supply -BL75S, and -XL75S-Cx
IPL Pin Signal IPL Pin Signal
L1 4 L1 1 L1
L2 3 L2 2 L2
L3 2 L3 3 L3
1 4
4. Tighten the IPL connector screws (IPL-1, -2, -3, and -4).

Wire the VAC LOAD Connector (LIM)
IMPORTANT Line Interface Modules (2094-xLxxSx) are capable of

connecting to two IAMs, providing each IAM has it’s
own line filter and the maximum current
specification is not exceeded. Refer to Power
Interconnect Diagrams on pages B-4 and B-5 for an
example of the LIM wired to two IAMs.
To wire the VAC LOAD (OPL) connector:
1. Prepare one end of the 3-phase power wires for attachment to the
OPL connector by removing insulation equal to the recommended
strip length (refer to figures 2.14 and 2.15 for connector location).

2.
Into this terminal on the OPL connector (LIM)
Insert this wire from 2094-BL02, -AL75S
2094-AL09
the 3-phase supply -BL75S, or -XL75S-Cx
OPL Pin Signal OPL Pin Signal
L1 1 L1’ 4 L1’
L2 2 L2’ 3 L2’
L3 3 L3’ 2 L3’
4 1
3. Tighten the OPL connector plug screws (OPL-1, -2, -3, and -4).
5.
If you have this LIM Then Do this
The AC line filter is not included
2094-AL75S, -BL75S or Go to Wire the AC Line
-XL75S-Cx with your LIM. You must install Filter.
one external to the LIM.
The AC line filter is wired as an Go to Wire the Input
2094-AL09 or -BL02
internal component of your LIM. Power Connector (IAM).

Wire the AC Line Filter
This procedure only applies to Line Interface Modules (2094-AL75S

IMPORTANT The Line Interface Modules (2094-xLxxSx) do not

include an AC line filter as an internal component.
Refer to AC Line Filters on page C-4 for catalog
numbers of available AC line filters.
Refer to Appendix B (page B-4) for an interconnect diagram including

the 2094-AL75S, -BL75S, and -XL75S-Cx Line Interface Modules.
To wire the AC Line Filter:
1. Prepare the other end of the LIM-to-filter 3-phase power wires

(VAC LOAD on the LIM) for attachment to the AC line filter LINE
terminals by removing an appropriate length of insulation from
each of the wires.
2. Route the 3-phase power wires (L1, L2, L3, and ground) from the
LIM (OPL connector) to the LINE side of your AC line filter and
attach to terminals L1, L2, L3, and E (respectively).
IMPORTANT Ensure the AC line filter is located as close to the

IAM as possible. Refer to Establish Noise Zones
beginning on page 1-22 for panel layout
examples.
Proper HF bonding of the filter to the panel and
chassis ground connections to the bonded
cabinet bus are critical to system performance.
3. Prepare one end of the filter-to-IAM 3-phase power wires for

attachment to the AC line filter LOAD terminals by removing an
appropriate length of insulation from each of the wires.
4. Route the 3-phase power wires (L1, L2, L3 and ground) from the
IAM to the LOAD side of your AC line filter and attach to terminals
L1, L2, L3, and E (respectively).
5. Tighten the LINE and LOAD terminal screws (L1, L2, L3 and E).
6. Gently pull on each wire to make sure it does not come off of its

Wire the Input Power Connector (IAM)
This procedure applies to an IAM or Leader IAM (DC common bus).
To wire the Input Power (IPD) connector:
1. Prepare the other end of the 3-phase power wires (from the LIM
or line filter) for attachment to the IPD connector plug by
removing insulation equal to the recommended strip length.
IAM.
3.
Insert this wire from the OPL connector (LIM)
2094-BL02, -AL75S IPD connector (IAM)
2094-AL09
-BL75S, or -XL75S-Cx
OPL Pin Signal OPL Pin Signal IPD Pin Signal
1 L1’ 4 L1’ 6 L1
2 L2’ 3 L2’ 5 L2
3 L3’ 2 L3’ 4 L3
4 1 3
4. Tighten the IPD connector plug screws (IPD-6, -5, -4, and -3).
6. Insert the IPD connector plug into the IPD connector (refer to
Figure 2.1 for connector location).
Wire the Control Power LOAD Connector (LIM)
To wire the Control Power LOAD (CPL) connector:
1. Prepare one end of single-phase power wires for attachment to

the CPL connector plug by removing insulation equal to the
recommended strip length.


2.
Insert this Control
Into the Control Power (CPL) connector (LIM)
Power LOAD wire
CPL Pin CPL Pin
Signal Signal
(2094-AL75S, -BL75S, -XL75S-Cx) (2094-AL09 and -BL02)
L1 1 2 L1
L2 2 1 L2/N
3. Tighten the two CPL connector plug screws (CPL-1 and -2).
5. Insert the CPL connector plug into the CPL connector (refer to
figures 2.14 and 2.15 for connector location).
Wire the Control Power Connector (IAM)
This procedure applies to an IAM, Leader IAM, or Follower IAM.
IMPORTANT LIM models (2094-AL75S and BL75S) will supply up

to eight axes. LIM models (2094-XL75S-Cx) will
supply up to sixteen axes.
To wire the Control Power (CPD) connector:
1. Prepare the other end of the single-phase power wires (from the
previous procedure) for attachment to the CPD connector plug by
2. Route the single-phase power wires (L1 and L2) to your IAM.
3.
Insert this wire from the Control Power (CPL) connector Into this terminal on the
(LIM) CPD connector (IAM)
CPL Pin
CPL CPL Pin/Signal CPL
(2094-AL75S, -BL75S, CPD Pin Signal
Signal (2094-AL09 and -BL02) Signal
-XL75S-Cx)
1 CTRL 1 2 L1 1 CTRL 2
2 CTRL 2 1 L2/N 2 CTRL 1
4. Tighten the connector plug screws (CPD-1 and -2).

6. Insert the CPD connector plug into the CPD connector (refer to
7. Go to Connect Motor Power and Brakes.
Connect Input Power (IAM without LIM)
This procedure assumes you have an IAM or Leader IAM and separate
power supply/line filter components mounted on your panel and are
ready to wire the AC input power to the IAM.


IMPORTANT To limit coil switching transients generated by the

LINE contactor, use of surge suppressor is
recommended. For an example, refer to Appendix B.
Wire the Input Power Connector (IAM)
This procedure applies to an IAM or Leader IAM (DC common bus).
1. Prepare your 3-phase power wires from the AC line filter for
attachment to the IPD connector plug by removing insulation
equal to the recommended strip length.
IAM.

3.
Into this terminal on the IPD
Insert this wire from your connector (IAM)
3-phase supply
IPD Pin Signal
6 L1
3-phase supply 5 L2
(phasing arbitrary)
4 L3
Bonded ground bus or (Ground)
3
Terminal E on AC line filter 1
1
Refer to Appendix B (page B-6) for an interconnect diagram of the Kinetix 6000 without a
LIM.
4. Tighten the IPD connector plug screws (IPD-6, -5, -4, and -3).
6. Insert the IPD connector plug into the IPD connector (refer to
Wire the Control Power Connector (IAM)
This procedure applies to an IAM, Leader IAM, or Follower IAM.
To wire the Control Power (CPD) connector:
1. Prepare the single-phase power wires from the AC line filter for
attachment to the CPD connector plug by removing insulation
equal to the recommended strip length.
2. Route the single-phase power wires (CTRL 1 and CTRL 2) to your

IAM.
IMPORTANT Source the 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 output leg of the isolation
transformer. Refer to Control Power Input on
page 2-16 for more information and Figure B.3
on page B-6 for the interconnect drawing.

3.
Into this terminal on the CPD
Insert this wire from the connector (IAM)
single-phase supply
CPD Pin Signal
Single-phase supply 1 CTRL 2
(phasing arbitrary) 2 CTRL 1
4. Tighten the CPD connector plug screws (CPD-1 and -2).
6. Insert the CPD connector plug into the CPD connector (refer to
Connect Input Power (Common Bus)
This procedure assumes you have a DC common bus configuration

and are ready to wire the DC bus connections between the Leader
IAM and Follower IAM.


Wire the DC Bus Connections (Leader IAM)
To wire the DC bus (IPD) connections:
1. Prepare your DC bus power wires for attachment to the IPD

connector plug by removing insulation equal to the recommended
strip length.


2. Insert the DC Bus wires as shown in the tables below.
Insert one end of the DC bus wires into these

terminals on the IPD connector (Leader IAM)
IPD Pin Signal
1 DC-
2 DC+
3. Tighten the IPD connector plug screws (IPD-1 and -2).
5. Insert the IPD connector plug into the IPD connector on the
Leader IAM (refer to Figure 2.1 for connector location).
Wire the Input Power Connector (Follower IAM)
1. Prepare your DC bus and ground wires for attachment to the IPD
connector plug by removing insulation equal to the recommended
strip length.

2. Insert the DC Bus and ground wires as shown in the table below.
Insert the DC bus and ground wires from the Leader IAM
into these terminals on the IPD connector (Follower IAM)
IPD Pin Signal
1 DC-
2 DC+
3
4 N.C.
5 N.C.
6 N.C.
IMPORTANT Do not connect three-phase input power to the

Follower IAM.

IMPORTANT When wiring multiple Follower IAMs, terminal

blocks and fuses are required to extend the DC
common bus power to additional drives. Refer to
Figure B.7 in Appendix B.
3. Tighten the IPD connector plug screws (IPD-1, -2, and -3).
5. Insert the IPD connector plug into the IPD connector on the
Follower IAM (refer to Figure 2.1 for connector location).
Safe-Off Connections Each IAM (2094-BCxx-Mxx-S) and AM (2094-BMxx-S) ships with the
(9-pin) wiring plug header (2090-XNSS-WP) and motion allowed
jumper (2090-XNSS-MA) installed in the Safe-Off (SO) connector. With
Pin orientation for the motion allowed jumper is shown on page 2-4.
IMPORTANT Pins SO-8 and -9 (24V+) are only used by the

2090-XNSS-MA motion allowed jumper. When wiring
to the 2090-XNSS-WP (wiring plug) header, the 24V
supply must come from an external source.
To wire the Safe-Off connector in single or multi-axis configurations,

refer to the Kinetix Safe-Off Feature Safety Reference Manual

Wire the Contactor Enable These procedures assume you have wired your single-phase and
three-phase input power and are ready to wire the Contactor Enable
Connector connector.
ATTENTION Wiring the Contactor Enable relay is required. To

Contactor Enable relay into your safety control string.
Refer to Contactor Enable Relay on page 2-14.
In common bus configurations, the Contactor Enable
(CED) connections for leader and follower drives
must be wired in series to the safety control string.
Refer to interconnect diagrams on page B-3 through
B-12 for wiring examples.


To wire your contactor enable (CED) connector:
1. Prepare the CED connector wires with a strip length as shown in

the figure below.
Figure 3.13
Wire Preparation
Strip Length 10 mm (0.38 in.)
CONT EN-
CONT EN+
2. Insert the CED connector wires into the CED connector plug and
tighten the connector plug screws.
4. Insert the CED connector plug into the CED connector (refer to

Connect Motor Power and These procedures assume you have wired your single-phase and
three-phase input power, the contactor enable connector, and are
Brakes ready to wire the motor power and brake connectors.
Note: These procedures apply to AMs and the inverter section of

IAMs. For motor power cable catalog numbers, refer to Motor
Power Cables in Appendix C.


Wire the Motor Power Connector
To wire your Motor Power (MP) connector:
1.
If you have this Use this Motor
Do this
motor Power Cable
MPL-A/B or MPG-A/B
2090-XXNPMP-xxSxx
1326AB (M2L/S2L)
MPF-A/B or MPS-A/B 2090-XXNPMF-xxSxx
TL-Axxxx-H 2090-XXNPT-16Sxx
2090-XXNPH-xxSxx or Go to main step 2.
H-Series
2090-XXNPHF-xxSxx
F-Series 2090-XXNPHF-xxSxx
N-Series 2090-XXNPN-16Sxx
Y-Series 2090-XXNPY-16Sxx 1
4. Cut the motor power cable, removing any existing
motor power preparation from the drive end of the
cable.
5. Remove 130 mm (5.1 in.) of outer insulation from the
cable, as shown in Figure 3.14.
1326AB (resolver) 1326-CPx1-xxx 2
6. Remove all but 25.4 mm (1.0 in.) of the cable braid.
7. Trim each of the wires to 105 mm (4.1 in.) as shown
in Figure 3.14.
8. Go to main step 2.
1 The brake wires for Y-Series motors are included in the motor power cable and require no additional preparation.
2
The brake wires for 1326AB (resolver) motors are included in the motor power cable, but require preparation for
use with the Kinetix 6000.

Figure 3.14
Shield Clamp Cable Preparation (1326-CPx1-xxx, 2090-XXNPY-16Sxx, and
2090-XXNPMF-xxSxx)
1326AB (resolver) Motors Y-Series Motors MPF-A/B and MPS-A/B Motors

(1326-CPx1-xxx cable) (2090-XXNPY-xxSxx cable) (2090-XXNPMF-xxSxx cable)
9 Black Thermal 1 White Spare

switch N/A wire
5 Black wires 2 Red set
4 Black 7 Black BR+ White

Brake Brake Brake
wires wires wires
6 Black 9 Black BR- Black
3 Black 3 Black U Brown

Outer Insulation
2 Black Motor 2 Black Motor V Black Motor
Power Power Power
Wires Wires Wires
1 Black 1 Black W Blue
Motor Power Cable

Grn/Yel Grn/Yel Grn/Yel
Exposed Braid
105 mm (4.1 in.)
25.4 mm (1.0 in.)
130 mm (5.1 in.)
2. Prepare your conductors by removing the precut insulation or by


3. Route the motor power cable to your AM or IAM (inverter

section). For the location of motor power connector, refer to
figures 2.1 or 2.2.
IMPORTANT To ensure system performance, run wires and

cables in the wireways as established in
Chapter 1.
4.
Insert the motor power wires from this servo Into this terminal on the MP
motor connector (IAM/AM)
1326AB (resolver), 1326AB (M2L/S2L), F-, H-
MP Pin Signal
and Y-Series N-, and MP-Series
1 / Black U / Brown 1 U
2 / Black V / Black 2 V
3 / Black W / Blue 3 W
Green/Yellow Green/Yellow 4
5. Tighten the MP connector plug screws (MP-1, -2, -3, and -4).

7. Insert the MP connector plug into the MP connector (refer to

figures 2.1 or 2.2 for connector location).
8.
If your motor is Then
1. Connect the 152.4 mm (6.0 in.)
termination wire to the closest earth
TL- or Y-Series ground (refer to Figure 3.12 for pigtail
location).
2. Go to Wire the Motor Brake Connector.
Not TL- or Y-Series Go to Wire the Motor Brake Connector.
Wire the Motor Brake Connector
The procedure for wiring your motor brake varies slightly, depending
on the motor series you are using. Refer to the table below to
determine where the brake wires for your servo motor are located and
for the appropriate brake cable or connector kit catalog number.
For this Motor Series The Brake Wires Cable Catalog Number
MPL-A/B and MPG-A/B
2090-UXNBMP-18Sxx brake cable
1326AB (M2L/S2L)
Are in a separate brake cable
TL-Axxxx-H (the motor has a brake 2090-DANBT-18Sxx
connector)
H/F-Series Straight brake connector kit 9101-0330
N-Series Straight brake connector kit 9101-1698
MPF-A/B and MPS-A/B 2090-XXNPMF-xxSxx power cable
Are included in the power
1326AB (resolver) cable (the motor does not have 1326-CPx1-xxx power cable
a brake connector)
Y-Series 2090-XXNPY-16Sxx power cable
IMPORTANT Use surge suppression when controlling a brake coil.

Refer to Controlling a Brake Example on page B-25.
To wire your motor brake (BC) connector:
1.
If your system Then your +24V dc brake power Do this
1. Wire +24V dc power from the LIM
Is available from the 24V Brake Power to BC-3 and -4 on your IAM/AM.
Includes a LIM
Connector (P1L/PSL) on the LIM.
2. Go to step 2.
1. Wire +24V dc power from your
Does not include a LIM Is user-supplied. user-supplied +24V.
2. Go to step 2.

2.
If you have this Refer to
Do this
motor this figure
1. Remove 105 mm (4.1 in.) of outer insulation and shield from
the cable as shown in Figure 3.15.
MPL-A/B, MPG-A/B, 2. Prepare your brake conductors by removing insulation equal
1326AB (M2L/S2L), to the recommended strip length.
Figure 3.15
TL-Axxxx-H, or 3. Route the motor brake cable to your AM or IAM (inverter
H-, F-, and N-Series section). For the location of motor/resistive brake connector,
refer to figures 2.1 or 2.2).
4. Go to main step 3.
MPF-A/B and Figures 3.14 1. Prepare your brake conductors by removing insulation equal
MPS-A/B and 3.10 to the recommended strip length.
Figures 3.14 2. Go to main step 3.
1326AB (resolver)
and 3.11
Figures 3.14
Y-Series
and 3.10
Figure 3.15
Brake Cable Preparation
Outer Insulation
BR+
Brake Cable
BR-
105 mm (4.1 in.)
3.
Insert the motor brake wires from this servo motor
BC connector (IAM/AM)
1326AB (M2L/S2L), H-, 1326AB
Y-Series MP Pin Signal
F-, N-, and MP-Series (resolver)
A / BR+ 6 / B1 7 / BR+ 5 MBRK+
C / BR- 4 / B2 9 / BR- 6 MBRK-
4. Tighten the BC connector plug screws (BC-5 and -6).
6. Insert the BC connector plug into the BC connector (refer to

figures 2.1 and 2.2 for connector location).

Apply the Motor Cable Shield Clamp
To apply your motor cable shield clamp:
1. Use a small flat blade screwdriver to depress the spring loaded

clamping plate as shown in Figure 3.16.
Figure 3.16
Depressing the Spring Clamp
Flat Blade Screwdriver
3.5 mm (0.14 in.) tip
Cable Clamp
Screwdriver
tip in slot
2. Position the exposed portion of the cable braid directly in line

with the clamp.
3. Release the spring, making sure the cable and cable braid are held
secure by the clamp.
4. Attach tie wrap around cable and clamp, if additional strain relief
is required (refer to Figure 3.17 for examples).
Figure 3.17
Motor Cable and Clamp
Exposed Braid Outer Insulation

(under clamp) Motor Horizontal Cable Clamp Orientation Example
Cable
Cable Clamp
Tie Wrap Cable Clamp
Outer Insulation
Exposed Braid
Vertical Cable Clamp (under clamp)
Orientation Example
Motor Cable
Vent holes on top of IAM/AM
5.
If you Do this
Have more axis 1. Move to the next axis module.
modules to wire 2. Go to Wire the Motor Power Connector.
Have wired all your Go to Understand Feedback and I/O Cable
axis modules Connections.

Understand Feedback and Factory made cables with premolded connectors are designed to
minimize EMI and are recommended over hand-built cables to
I/O Cable Connections improve system performance. However, other options are available
for building your own feedback and I/O cables. Refer to the table
below for the available options.
Connector Kit
This Connection Option Is Available for this Cable Using this Type of Cable
Catalog Number
Refer to the table below for the
Premolded Connectors N/A Motor Feedback premolded motor feedback cable
available for your motor.
Refer to the table below for the flying
2090-K6CK-D15M
Motor Feedback lead cable available for your motor.
Low Profile Connector 2090-K6CK-D15MF 1326-CCUx-xxx

2090-K6CK-D15F Auxiliary Feedback User-supplied flying lead cable.
2090-K6CK-D26M I/O Interface User-supplied flying lead cable.
Panel-Mounted Breakout Refer to the table below for the flying
2090-UXBK-D15xx 1 Motor Feedback
Board Kits lead cable available for your motor.
1
Not compatible with 1326-CCUx-xxx cable.
Refer to the table below for motor feedback cable catalog numbers
available for specific motor/feedback combinations.
Use this Feedback Cable

These Motors Feedback Type
Premolded Flying Lead
MPL-AxxxxS/M or
High-resolution encoder
MPL-BxxxxS/M
MPL-AxxxxH
Incremental encoder 2090-UXNFBMP-Sxx 2090-XXNFMP-Sxx
MPL-BxxxxH
MPG-AxxxxS/M
High-resolution encoder
MPG-BxxxxS/M
MPL-BxxxxR Motor resolver N/A 2090-CDNFDMP-Sxx
MPF-AxxxxS/M or
MPF-BxxxxS/M
High-resolution encoder N/A 2090-XXNFMF-Sxx
MPS-AxxxxS/M or
MPS-BxxxxS/M
TL-Axxxx-H Incremental encoder 2090-XXNFT-Sxx N/A
1326AB-Bxxxx-M2L/S2L High-resolution encoder 2090-UXNFBMP-Sxx 2090-XXNFMP-Sxx
1326AB-Bxxxx-21 Motor resolver N/A 1326-CCUx-xxx
H/F-Series 2090-UXNFBHF-Sxx 2090-XXNFHF-Sxx
N-Series Incremental encoder 2090-UXNFBN-Sxx 2090-XXNFN-Sxx
Y-Series 2090-UXNFBY-Sxx 2090-XXNFY-Sxx

Motor Feedback Connector Pin-outs
the motor feedback (15-pin) connector to MP-Series Low Inertia (MPL)
and Integrated Gear (MPG), 1326AB (M2L/S2L), and N-Series motors.
Incremental Encoder
High Resolution Feedback Signals for
Feedback Signals for
Motor Drive MF
Connector MPL-Bxxx-M/-S MPL-A3xx-M/-S Connector
MPL-A5xx-M/-S and MPL-A4xx-M/-S MPL-Axxx-H
Pin MPL-Bxxx-H and Pin
1326AB-Bxxx-M2L/-S2L MPL-A45xx-M/-S
Motors MPG-A/Bxxx-M/-S Motors N-Series Motors
A Sine+ Sine+ AM+ 1

B Sine- Sine- AM- 2
C Cos+ Cos+ BM+ 3
D Cos- Cos- BM- 4
E Data+ Data+ IM+ 5
F Data- Data- IM- 10
K Reserved EPWR_5V EPWR_5V 14
L Reserved ECOM ECOM 6
N EPWR_9V Reserved Reserved 7
P ECOM Reserved Reserved 6
R TS+ TS+ TS+ 11
S TS- TS- TS- 6
T Reserved Reserved S1 12
U Reserved Reserved S2 13
V Reserved Reserved S3 8
the motor feedback (15-pin) connector to MP-Series (resolver-based)
motors.
Motor Resolver Feedback for Drive MF

Connector MPL-Bxxxx-R Connector
Pin 460V Motors Pin
A S2 1
B S4 2
C S1 3
D S3 4
G R1 5
H R2 10
R TS+ 11
S TS- 6

the motor feedback (15-pin) connector to MP-Series Food Grade
(MPF) and MP-Series Stainless Steel (MPS) motors.
High Resolution Feedback Signals for

Motor Drive MF
Connector MPF/MPS-A3xx-M/-S Connector
MPF/MPS-Bxxx-M/-S and MPF-A4xx-M/-S
Pin MPF/MPS-A5xx-M/-S Motors MPF/MPS-A45xx-M/-S Motors Pin
1 Sine+ Sine+ 1
2 Sine- Sine- 2
3 Cos+ Cos+ 3
4 Cos- Cos- 4
5 Data+ Data+ 5
6 Data- Data- 10
9 Reserved EPWR_5V 14
10 Reserved ECOM 6
11 EPWR_9V Reserved 7
12 ECOM Reserved 6
13 TS+ TS+ 11
14 TS- TS- 6
the motor feedback (15-pin) premolded connector to TL-Series
motors.
Motor Drive MF
Incremental Encoder Feedback
Connector Connector
Signals for TL-Axxxx-H Motors
Pin Pin
1 AM+ 1
2 AM- 2
3 BM+ 3
4 BM- 4
5 IM+ 5
6 S1 12
7 EPWR_5VM 14
8 ECOMM 6
Connector
9 Shield
Housing
10 IM- 10
11 S2 13
15 S3 8

the motor feedback (15-pin) connector to H-, F-, and Y-Series (230V)
motors.
Motor Incremental Encoder Drive MF Motor Incremental Encoder Drive MF

Connector Feedback Signals to Connector Connector Feedback Signals to Connector
Pin H- or F-Series Motors Pin Pin Y-Series Motors Pin
A AM+ 1 9 AM+ 1
B AM- 2 10 AM- 2
C BM+ 3 11 BM+ 3
D BM- 4 12 BM- 4
E IM+ 5 13 IM+ 5
F IM- 10 14 IM- 10
G Reserved – 15 S1 12
H Reserved – 17 S2 13
J EPWR_5VM 14 19 S3 8
K EPWR_5VM 14 22 EPWR_5VM 14
L ECOMM 6 23 ECOMM 6
M ECOMM 6 Connector
24 Drain
N S2 13 Housing
P S3 8 Reserved Reserved 7
R TS+ 11 Reserved Reserved 9
S TS- 6 Reserved Reserved 11
T S1 12 Reserved Reserved 15
the motor feedback (15-pin) connector to 1326AB (resolver-based)
460V motors.
Motor Resolver Feedback for Drive MF Motor Resolver Feedback for Drive MF
Connector 1326AB-Bxxxx-21 Connector Power 1326AB-Bxxxx-21 Connector
Pin 460V Motors Pin 1 Cable 460V Motors Pin 2
A R1 5 5 TS+ 16
B R2 10 9 TS- 17
C – – – Shield S
D S1 3
E S3 4
F – –
G S2 1
H S4 2
1
For termination of individual drain wires, use Low Profile connector kit (2090-K6CK-D15MF) and reference Figure
3.19.
2
Thermal switch wires (5 and 9) are in the motor power cable (1326-CPx1-xxx). Use Low Profile connector kit
(2090-K6CK-D15MF) and reference Figure 3.19.

Wire Feedback and I/O Connectors
These procedures assume you have mounted your Kinetix 6000

system, completed all power wiring, and are ready to connect your
feedback and I/O cables.
To make this type of connection Go to

Premolded Cable Connect Premolded Motor Feedback Cables.
Panel-Mounted Breakout Board Wire Panel-Mounted Breakout Board Kits.
Low Profile Connector Wire Low Profile Connectors.
Connect Premolded Motor Feedback Cables
Motor feedback cables (with premolded connectors) plug directly into

15-pin motor feedback connectors on either the IAM or AM (no wiring
is necessary).
IMPORTANT When using Bulletin 2090 cables with premolded

connectors, tighten the mounting screws (finger
tight) to improve system performance.
Refer to Figures 2.1 and 2.2 for the location of your motor feedback
connector(s).
Wire Panel-Mounted Breakout Board Kits
The panel-mounted breakout board kit (catalog number

2090-UXBK-D15xx) includes a (DIN rail) terminal block and cable.
The cable connects between the terminal block and the motor
feedback (MF) connector. Wires from your flying-lead motor feedback
cable connect to the terminals.
IMPORTANT The panel-mounted breakout board kit

(2090-UXBK-D15xx) is not compatible with
1326-CCUx-xxx cable.

Wire Low Profile Connectors
Low Profile connectors (2090-K6CK-Dxxx) are suitable for motor

feedback (MF), auxiliary feedback (AF), and I/O connections (IOD)
on any IAM or AM. They also apply to I/O connections (IOL) on the
2094-AL09 and -BL02 LIM. Refer to Low Profile Connector Kits in
Appendix C for catalog numbers. Refer to Low Profile Connector Kits
Installation Instructions (publication 2094-IN007) included with your
kit for more information.
To wire flying leads to the Low Profile connector:
1. Remove the Low Profile connector cover.
2. Remove the two shield clamp screws.
3. Remove an amount of outer insulation from the motor feedback

cable to allow for clamping the cable shield and routing wires to
their terminals. Refer to figures 3.18 and 3.19 to see how the wires
route to the terminals and how the cable shield clamps to the
connector.
4. Remove all but 12 mm (0.5 in.) of the cable shield.
5. Prepare your flying-lead wires for attachment to the Low Profile

15-pin connector by cutting each to an appropriate length and
removing 5 mm (0.2 in.) of insulation.

6. Route the cable and wires, as shown in figures 3.18 and 3.19 (for
15-pin feedback cables) or Figure 3.20 (for 26-pin I/O cables) and
tighten the terminal screws to 0.2 N-m (2.1 lb-in.). Refer to
Appendix B for the motor feedback pin-out for your motor/drive
combination. Refer to Chapter 2 for I/O and auxiliary feedback
cable pinouts.
8. Provide stress relief for wires by securing them with a tie wrap as
shown in figures 3.18, 3.19, and 3.20.

9. Position the cable shield (braid) in the clamp, replace the two
screws, and tighten clamp screws to 0.4 N-m (3.5 lb-in.). Refer to
figures 3.18 and 3.19 to see how the cable shield clamps to the
connector.
IMPORTANT The purpose of the cable shield clamp is to

provide a proper ground and improve system
performance, not stress relief.
10. Replace the Low Profile connector cover.
11. Insert the Low Profile connector into the appropriate IAM/AM/LIM
connector. Refer to Figures 2.1 (IAM), 2.2 (AM), and 2.14 (LIM) for
the location of your feedback and I/O connectors.
12. Tighten the mounting screws. Torque screws to 0.4 Nm (3.5

lb-in.).
IMPORTANT Tightening the mounting screws is essential to

ensure shield integrity of the Low Profile
connector covers with the drive feedback
connector D-shells.
Figure 3.18
Wiring (15-Pin) Flying-Lead Feedback Cable Connections
15-pin (male) Motor Feedback 15-pin (female) Auxiliary Feedback
Low Profile Connector Low Profile Connector
Bare wires
Wire insulation Pin 10 Pin 6

Foil shield Pin 5 Pin 15 Pin 1 Pin 11
Mounting
Braided shield Screws
Pin 1 Pin 11 Pin 5 Pin 15
Outer insulation Pin 6 Pin 10
2090-XXNFxx-Sxx
0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1
Tie Refer to Chapter 2 for feedback

Wrap signal descriptions.
Refer to Appendix B for the motor

Shield Clamp feedback interconnect drawing for
your drive/motor combination.
Exposed Braid under clamp
Turn clamp over to hold 2090-XXNFxx-Sxx or

small wires secure 2090-CDNFDMP-Sxx Feedback Cable
IMPORTANT Clamping the exposed braid under the shield clamp

is critical. Turn clamp over, if necessary, to ensure a
proper ground.

Figure 3.19
Wiring (15-Pin) 1326-CCUx-xxx Motor Feedback Cable Connector
15-pin (male) Motor Feedback 15-pin (female) Auxiliary Feedback
Bare wires
Low Profile Connector Low Profile Connector
Drain wire
Wire insulation
Pin 10 Pin 6
Foil shield
Mounting
Braided shield Screws
1326-CCUx-xxx
Outer insulation Pin 6 Pin 10
0 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1
Drain wire (only with 1326-CCUx-xxx
Refer to Chapter 2 for feedback
cable) folded back under clamp
signal descriptions.
Tie
Wrap Refer to Appendix B for the motor
feedback interconnect drawing for
your application.
Shield Clamp
17 16 S
Pins S, 16, and 17 are only included on
Exposed Braid under clamp 2090-K6CK-D15MF Low Profile connectors and
used for thermal switch connections to 1326AB
(resolver-based) motors. After filtering, these pins
connect to MF-11 and -6.
Turn clamp over to hold
small wires secure 1326-CCUx-xxx cable Feedback
Thermal Switch Wires
IMPORTANT Clamping the exposed braid under the shield clamp

is critical. Turn clamp over, if necessary, to ensure a
proper ground.
Figure 3.20
Wiring (26-Pin) I/O Cable Connector
Pin 18
Pin 9 Pin 26
Mounting
Screws
Pin 1 Pin 19
Pin 10
S 26 25 24 S 23 22 21 20 19 18 17 16 15 14 13
26-pin (male) I/O

Low Profile Connector
9 8 7 6 5 4 3 2 1
12 11 10
Tie Wrap
Slot

small wires secure
Three Conductor Discrete I/O Wire

I/O Cable(s)

Understand External Shunt Follow these guidelines when wiring your external active or passive
shunt resistor kit.
Connections

If your And you are wiring to

application Catalog Number the Kinetix 6000 Then
requires a(n)
• Verify the internal shunt jumper is in place between RC-2 and
Power Rail Mounted RC-3, as shown in Figure 3.21.
2094-BSP2 N/A
Shunt Module • Verify the thermal switch jumper is in place between TS-1 and
TS-2, as shown in Figure 3.21.
• Remove the internal shunt jumper between RC-2 and RC-3.
• Remove the thermal switch jumper between TS-1 and TS-2
External Passive (if your shunt module includes a thermal switch).
Shunt Connected to SM
1394-SRxxxx • Refer to Plan Your Panel Layout and Mount Your External Shunt
the Power Rail 2094-BSP2 Resistor Kit in Chapter 1.
Shunt Module
• Refer to Shunt Module Connector Pin-outs in Chapter 2.
• Refer to Shunt Module Interconnect Diagrams in Appendix B.
• Refer to Plan Your Panel Layout in Chapter 1.
External Active
Shunt Connected to 1336-MOD-Kxxxx IAM • Refer to Shunt Module Interconnect Diagrams in Appendix B.
2094-xCxx-Mxx
the DC Bus • Refer to the installation instructions provided with your shunt
(publication 1336-5.64).
Figure 3.21
Shunt Module Jumper Settings
1 2 3
COL
Shunt Module, top view INT
(2094-BSP2) Cable Shield
Clamp
DC+ Jumper 1
TS2
1 2
External Shunt Resistor COL TS1

1 2 3
(RC) Connector INT

DC+
External Thermal Switch TS2

1 2
(TS) Connector TS1
1 These are the factory default jumper settings.

Understand Resistive Brake Follow these guidelines when wiring your Bulletin 2090 Resistive
Brake Module (RBM).
Module Connections
If your application requires an RBM and you are wiring to a Kinetix

6000 IAM/AM drive, then refer to the following:
• Plan Your Panel Layout in Chapter 1.

• Resistive brake module to Kinetix 6000 drive interface cable
(catalog number 2090-XXNRB-xxFxPx).
• The Resistive Brake Module Interconnect Diagrams in Appendix B.
• The installation instructions provided with your RBM (publication
2090-IN009).
Figure 3.22
Resistive Brake Module Connections
I/O
(TB3) Connections
2094-xCxx-Mxx IAM or Contactor Status LED

2094-xMxx AM (top view)
Motor Power
Cable Clamp
(exposed shield 2090-XBxx-xx
braid under clamp) Resistive Brake Module
Tie Wrap (front view)
CTRL 2
CTRL 1
Drive Connection Motor Connection
1 2 3 4
DC-
W
(TB1) Connector (TB2) Connector
DC+
V
U
L3
MBRK -
L2
MBRK +
L1 COM
PWR
CONT EN- DBRK -
CONT EN+ DBRK +
Exposed Shield Braid

RX TX BAUD
Under Clamp
DPI RATE
Motor Cable
Shield Clamps
2090-XXNRB-xxFvPx
RBM/Kinetix 6000 Interface Cable Bulletin 2090 Motor Power Cable
To Motor

Connect Your SERCOS This procedure assumes you have your ControlLogix chassis with
1756-MxxSE interface module or personal computer with
Fiber-Optic Cables 1784-PM16SE PCI card and Kinetix 6000 SERCOS interface system(s)
mounted and are ready to connect the fiber-optic cables.
The SERCOS fiber-optic ring is connected using the SERCOS Receive

and Transmit connectors. Refer to Chapter 2 for the location of the
connectors on your Kinetix 6000 drive(s) and Figure 3.23 to locate the
connectors on your SERCOS interface module or PCI card.
Note: Plastic cable is available in lengths up to 32 m (105.0 ft). Glass

cable is available in lengths between 50 m (164.2 ft) and 200 m
(656.7 ft).
Figure 3.23
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)
Refer to Figure 3.24 for an example of fiber-optic ring connections

between the Kinetix 6000 drive(s) and the SoftLogix PCI card.
Figure 3.24
Fiber-Optic Ring Connection (Example 1)
0 SoftLogix
ABCDE
3456 72
F 1
1784-PM16SE SERCOS
89
OK
CP
interface PCI Card

Transmit TX
RX
Receive
Receive Transmit Receive Transmit
Kinetix 6000 Kinetix 6000

Refer to figures 3.25, 3.26, and 3.27 for examples of fiber-optic ring
connections between the Kinetix 6000 drive(s) (IAM or AM) and the
1756-MxxSE interface module.
Figure 3.25
1756-MxxSE SERCOS interface Module
SERCOS interfaceTM
CP OK
Tx (rear)
Rx (front)
Transmit Receive
Receive Transmit Receive Transmit
Figure 3.26
1756-MxxSE SERCOS interface Modules
SERCOS interfaceTM SERCOS interfaceTM
CP OK CP OK
ControlLogix
Chassis
Tx (rear) Tx (rear)
Rx (front) Rx (front)
Transmit Receive Transmit Receive
Transmit Receive
Receive Transmit
Kinetix 6000
Note: You can mount the two 1756-MxxSE SERCOS interface modules in two separate ControlLogix chassis (as
shown above) or you can mount them in the same chassis.
IMPORTANT Clean the fiber-optic cable connectors prior to

installation. Dust in the connectors can reduce signal
strength. For more information, refer to Fiber Optic
Cable Installation and Handling Instructions
(publication 2090-IN010).

Cable lengths of 32 m (105 ft) for plastic cable and 200 m (656.7 ft) for
glass cable are possible for each transmission section (point A to B).
In Figure 3.27, the second Kinetix 6000 system is located in a separate
cabinet and connected with bulkhead adapters.
IMPORTANT To avoid signal loss, do not use bulkhead adapters to

connect glass cables. Use bulkhead adapters for
making plastic-to-plastic cable connections only.
Figure 3.27
1756-MxxSE SERCOS
Interface Module
SERCOS interfaceTM
CP OK
SERCOS Fiber-Optic
Tx (rear)
Rx (front) Bulkhead Adapter

A B
SERCOS Fiber-Optic Ring SERCOS Ring
B A B A
SERCOS Fiber-Optic
Bulkhead Adapter
When connecting 2094-BM03 and -BM05 (double-wide) axis modules,

use 2090-SCEP0-2, 0.2 m (7.0 in.) cables.When connecting 2094-AMxx,
-BMP5, -BM01 and -BM02 (single-wide) axis modules, use
2090-SCEP0-1, 0.1 m (5.1 in.) cables.
Figure 3.28
Kinetix 6000 Drive-to-Drive Example
1756-M16SE SERCOS
Interface Module SERCOS Fiber-Optic Ring
SERCOS interfaceTM
CP OK
ControlLogix Chassis 0-2 0-1

(7.0 in.) (5.1 in.)
Tx (rear)
Rx (front)
Kinetix 6000
(5 axis power rail)

To connect the SERCOS fiber-optic cables:
1. Insert one end of a fiber-optic cable into the Receive SERCOS

connector on the Kinetix 6000 and thread the connector on finger
tight.
2. Insert the other end of the cable (from step 1) into the Transmit
SERCOS connector on the ControlLogix module/SoftLogix PCI
Card and thread the connector on finger tight.
3. Insert one end of another fiber-optic cable into the Transmit

SERCOS connector on the last Kinetix 6000 drive in the ring and
thread the connector on finger tight.
4. Insert the other end of the cable (from step 3) into the Receive
SERCOS connector on the ControlLogix module/SoftLogix PCI
Card and thread the connector on finger tight.
5. Complete the ring by connecting the Transmit and Receive

connectors from one drive to the next until all are connected
(refer to the examples above).
Refer to Appendix C for SERCOS fiber-optic cable and bulkhead

adapter catalog numbers.


Chapter 4
Troubleshoot Status Indicators
Chapter Objectives This chapter provides a troubleshooting activities for the Kinetix 6000.
This chapter includes:
• General Troubleshooting
• Troubleshoot IAM/AM Status LEDs
• Troubleshoot SM Status LEDs
• Troubleshoot LIM Status LEDs
• Troubleshoot RBM Status LEDs
• Troubleshoot General System Problems
For power up procedures and system integration with the

ControlLogix and SoftLogix modules/PCI cards (see table below) refer
to the Kinetix 6000 Digital Servo Drives Integration Manual
(publication 2094-IN002). For an electronic copy, visit the Literature
Library website (www.rockwellautomation.com/literature). For
hardcopy publications, contact your local Allen-Bradley distributor or
Rockwell Automation sales office.
Interface ControlLogix Motion SoftLogix PCI Card

Module
SERCOS interface 1756-MxxSE 1784-PM16SE
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
Actively cycling segments in a full circle Your Kinetix 6000 drive is ready, but SERCOS
2094-xCxx-Mxx-x IAM communications is not available.
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.

4-2 Troubleshoot Status Indicators
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.

Troubleshoot Status Indicators 4-3
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
Chapter 3).
Motor internal ground short. Replace motor.
Disconnect motor power cable from drive
and enable drive with current limit set to 0.
GroundShortFault Excessive ground current in Internal malfunction. If fault clears, then a wiring error or motor
E34 the converter was internal problem exists. If fault remains,
(Ground Fault) detected. 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 B.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.
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)

Error Fault Message

SERCOSFault Verify that each SERCOS drive is assigned

E50 Duplicate node address detected on SERCOS ring. a unique node address.
(SERCOS Same ADDR)
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 Error illegal transition. potential noise sources.
(Aux Fdbk AQB)
• 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 Electrical Noise Reference Manual
(Mtr Fdbk Noise) cable.
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 4-10.
DriveOvervoltage
Fault SM Shunt Fault LED status
E79 is Steady Red Refer to Shunt Fault LED on page 4-10.
(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 4-1.
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 4-11.
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.

Appendix A
Specifications and Dimensions
Chapter Objectives This appendix covers the following topics:
• Certifications
• Power Specifications
• General Specifications
• AC Line Filter Specifications
• External Shunt Module Specifications
• Resistive Brake Module Specifications
• Dimensions
Certifications The Kinetix 6000 is certified for the following when the product or
package is marked.
• UL Listed to U.S. and Canadian safety standards

(UL 508 C File E59272)
• CE marked for all applicable directives
Note: Refer to www.ab.com/certification/ce/docs for more
information.

A-2 Specifications and Dimensions
Power Specifications This section contains power specifications for the Kinetix 6000 system
components.
Integrated Axis Module (converter) 230V Power Specifications
The table below lists general power specifications and requirements

for the Kinetix 6000 (230V) Integrated Axis Modules.
Description
Specification
2094-AC05-MP5 2094-AC05-M01 2094-AC09-M02 2094-AC16-M03 2094-AC32-M05
AC Input Voltage 195-264Vrms Three-Phase (230V nominal)

Main AC Input Current 1

Nominal (rms) 10A 19A 36A 71A
Maximum inrush (0-peak) 20A 33A 65A 120A
DC Input Voltage (common bus follower) 275 - 375V dc
DC Input Current (common bus follower) 10A 19A 36A 71A
Control Power AC Input Voltage 95-264Vrms Single-Phase (230V nominal)
Control Power AC Input Current
Nominal (@ 220/230V ac) rms 6A 6A
Maximum inrush (0-peak) 20A 83A 2
Nominal Bus Output Voltage 325V dc
Line Loss Ride Through 20 ms
Continuous Output Current to Bus (Adc) 10A 19A 36A 71A
Intermittent Output Current to Bus (Adc) 3 20A 38A 72A 142A
Bus Overvoltage 425V dc
Bus Undervoltage 138V dc
Internal Shunt
Continuous Power N/A 50W 200W 200W
Peak Power N/A 8000W 5600W 5600W
Internal Shunt Resistor N/A 20 Ω 28.75 Ω 28.75 Ω
Shunt On N/A 405V dc
Shunt Off N/A 375V dc
Continuous Power Output to Bus 3 kW 6 kW 11.3 kW 22.5 kW
Peak Power Output 6 kW 12 kW 22.6 kW 45.0 kW
Efficiency 95%
Converter Inductance N/A 150µH 75µH
Converter Capacitance 270µF 540µF 1320µF 1980µF
1 All 2094-xCxx Integrated Axis Modules are limited to 2 contactor cycles per minute (with up to 4 axis modules), or
1 contactor cycle per minute (with 5 to 8 axis modules).
2
Maximum inrush duration is less than 1/2 line cycle.
3 Intermittent output current duration equals 250 ms.

Specifications and Dimensions A-3
Integrated Axis Module (converter) 460V Power Specifications
The table below lists general power specifications and requirements

for the Kinetix 6000 (460V) Integrated Axis Modules.
Description
Specification
2094-BC01-MP5 2094-BC01-M01 2094-BC02-M02 2094-BC04-M03 2094-BC07-M05
AC Input Voltage 324-528Vrms Three-Phase (360/480V nominal)
Main AC Input Current 1

Nominal (rms) 10A 24A 44A 71A
Maximum inrush (0-peak) 10A 20A 34A 56A
DC Input Voltage (common bus follower) 458 - 747V dc
DC Input Current (common bus follower) 10A 24A 43A 71A
Control Power AC Input Voltage 95-264Vrms Single-Phase (230V nominal)
Control Power AC Input Current
Nominal (@ 220/230V ac) rms 6A
Maximum inrush (0-peak) 25A
Nominal Bus Output Voltage 650V dc
Line Loss Ride Through 20 ms
Continuous Output Current to Bus (Adc) 10A 24A 43A 71A
Intermittent Output Current to Bus (Adc) 2 20A 48A 86A 142A
Bus Overvoltage 825V dc

Bus Undervoltage 275V dc
Internal Shunt
Continuous power 50W 200W
Peak power 5600W 22300W
Internal Shunt Resistor 115 Ω 28.75 Ω
Shunt On 805V dc
Shunt Off 755V dc
Continuous Power Output to Bus 6 kW 15 kW 27.6 kW 45 kW
Peak Power Output 12 kW 30 kW 55.2 kW 90 kW
Efficiency 95%
Converter Inductance 250µH 125µH 75µH
Converter Capacitance 110µF 220µF 940µF 1410µF
1 All 2094-xCxx Integrated Axis Modules are limited to 2 contactor cycles per minute (with up to 4 axis modules), or
1 contactor cycle per minute (with 5 to 8 axis modules).
2
Intermittent output current duration equals 250 ms.

Axis Module (inverter) 230V Power Specifications
The tables below list the power specifications for the Kinetix 6000
(230V) Axis Modules. 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 Integrated Axis
Module.
Description
Specification 2094-AMP5 2094-AM01 2094-AM02 2094-AM03 2094-AM05
(2094-AC05-MP5) (2094-AC05-M01) (2094-AC09-M02) (2094-AC16-M03) (2094-AC32-M05)
Bandwidth 1
Velocity Loop 500 Hz
Current Loop 1300 Hz
PWM Frequency 8 kHz 4 kHz
Nominal Input Voltage 325V dc
Continuous Current (rms) 3.7A 6.0A 10.6A 17.3A 34.6A
Continuous Current (sine)
0-peak 5.2A 8.5A 15.0A 24.5A 48.9A
Peak Current (rms) 2 7.4A 12.0A 21.2A 34.6A 51.9A
Peak Current (0-peak) 2 10.5A 17.0A 30.0A 48.9A 73.4A
Continuous Power Out (nominal) 1.2 kW 1.9 kW 3.4 kW 5.5 kW 11.0 kW
Internal Shunt
Continuous Power N/A 50W
Peak Power N/A 1400W
Internal Shunt Resistor N/A 115 Ω
Shunt On N/A 405V dc
Shunt Off N/A 375V dc
Efficiency 98%
Capacitance 390µF 660µF 780µF 1320µF 2640µF
Capacitive Energy Absorption 15 Joules 25 Joules 29 Joules 50 Joules 99 Joules
1 Bandwidth values vary based on tuning parameters and mechanical components.
2
Peak current duration equals 2.5 seconds.

Axis Module (inverter) 460V Power Specifications
The tables below list the power specifications for the Kinetix 6000
(460V) Axis Modules. 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 Integrated Axis
Module.
Description
Specification 2094-BMP5 2094-BM01 2094-BM02 2094-BM03 2094-BM05
(2094-BC01-MP5) (2094-BC01-M01) (2094-BC02-M02) (2094-BC04-M03) (2094-BC07-M05)
Bandwidth 1
Velocity Loop 500 Hz
Current Loop 1300 Hz
PWM Frequency 8 kHz 4 kHz
Nominal Input Voltage 650V dc
Continuous Current (rms) 2.8A 6.1A 10.3A 21.2A 34.6A
Continuous Current (sine)
0-peak 4.0A 8.6A 14.6A 30.0A 48.9A
Peak Current (rms) 2 4.2A 9.2A 15.5A 31.8A 51.9A
Peak Current (0-peak) 2 5.9A 12.9A 21.8A 45.0A 73.4A
Continuous Power Out (nominal) 1.8 kW 3.9 kW 6.6 kW 13.5 kW 22.0 kW
Internal Shunt
Continuous power 50W 200W
Peak power 5600W 22300W
Internal Shunt Resistor 115 Ω 28.75 Ω
Shunt On 805V dc
Shunt Off 755V dc
Efficiency 97%
Capacitance 75µF 150µF 270µF 840µF 1175µF
Capacitive Energy Absorption 10 Joules 19 Joules 35 Joules 108 Joules 152 Joules
1 Bandwidth values vary based on tuning parameters and mechanical components.
2
Peak current duration equals 2.5 seconds.

Line Interface Module Power Specifications
The tables below list general power specifications and requirements

for the Kinetix 6000 (2094-AL75S, -BL75S, and -XL75S-Cx) Line
Interface Modules.
Description
Designator Specification 2094-XL75S-C1 2094-XL75S-C2
2094-AL75S (230V) 2094-BL75S (460V)
(230/460V) (230/460V)
195-265Vrms 380-520Vrms 195-520Vrms Three-Phase
VAC Line AC Input Voltage Three-Phase Three-Phase (230-460V nominal)
(IPL) Connector (230V nominal) (460V nominal)
AC Input Frequency 47 - 63 Hz 47 - 63 Hz
VAC Load 75Arms 75Arms
(OPL) Connector Main AC Output Current
93 - 121Vrms 196 - 253Vrms

Auxiliary Power Input Auxiliary AC Input Voltage N/A Single-Phase Single-Phase
(APL) Connector (110V nominal) (230V nominal)
Auxiliary AC Input Current N/A 20Arms 11Arms
Control Power Output Auxiliary AC Output Current 3Arms 12Arms 5Arms

(CPL) Connector
and 195-265Vrms 190-260Vrms 93 - 121Vrms 196-253Vrms
Auxiliary Power Output Auxiliary AC Output Voltage Single-Phase Single-Phase Single-Phase Single-Phase
(P2L) Connector (230V nominal) (230V nominal) (110V nominal) (230V nominal)
Brake Power Output
(P1L) Connector
and Brake and I/O Power 24V dc 20A 20A
I/O (IOL) Connector
Contactor Control Voltage 2 21.6 - 26.4V dc 21.6 - 26.4V dc
2
Contactor Control Current 12 - 9 mA 12 - 9 mA
Contactor Pickup Current N/A (Internal) 1.75A 1 0.87A 1
Contactor Hold-In Current N/A (Internal) 0.14A 1 0.07A 1
LIM Contactor 93 - 121Vrms 196 - 253Vrms
(CR1)
Contactor Voltage N/A (Internal) Single-Phase Single-Phase
(110V nominal) (230V nominal)
Contactor Pickup Time 18.5 ms (minimum) 18.5 ms (minimum)

30.0 ms (maximum) 30.0 ms (maximum)
10.0 ms (minimum) 10.0 ms (minimum)
Contactor Dropout Time 60.0 ms (maximum) 60.0 ms (maximum)
1 Current provided by auxiliary VAC input.
2
Power specifications for DC Interface Module (100 JE) COIL_E1 and COIL_E2 input.

The tables below list general power specifications and requirements

for the Kinetix 6000 (2094-xLxx) Line Interface Modules.
Description
Designator Specification
2094-AL09 2094-BL02
195-265Vrms Three-Phase 380-520Vrms Three-Phase
VAC Line AC Input Voltage
(IPL) Connector
VAC Load Main AC Output Current 20Arms 30Arms
(OPL) Connector
Auxiliary AC Output Current 3A
Control Power Output
(CPL) Connector 195-265Vrms Three-Phase 190-260Vrms Three-Phase
Auxiliary AC Output Voltage
Brake Power Output Brake Power 24VDC 2.1A

(PSL) Connector I/O Brake Power 24VDC 6.0A
Contactor Pickup Current 383 mA
Contactor Hold-In Current 383 mA
LIM Contactor
(CR1) Contactor Voltage 24V dc
Contactor Pickup Time 50 ms (min.) 80 ms (max)
Contactor Dropout Time 80 ms (min.) 125 ms (max)
Shunt Module Specifications
The table below lists the power specifications for the Kinetix 6000
Shunt Modules.
Specifications
Shunt Module Drive Peak Peak Continuous Fuse Replacement
Kinetix 6000 Drives Catalog Number Resistance Power
Voltage Current Power
V ac Ohms kW Amps Watts
2094-ACxx-Mxx 230 5.7 14
or 2094-BSP2 28.75 200 N/A (no internal fuse)
2094-BCxx-Mxx 460 22.5 28
Note: For specifications of external shunt resistors compatible with the

Kinetix 6000, refer to on page A-18.
IMPORTANT The Kinetix 6000 (460V) shunt module (catalog

number 2094-BSP2) is compatible with all Kinetix
6000 230V and 460V systems, however, the 460V
shunt module is physically larger than the 230V
components (consistent with the other 460V
components) and additional clearance is required
beneath and in front of the module.

In the table below, the 230V system specifications are given for the
IAM internal shunt resistors, the Kinetix 6000 (2094-BSP2) SM, and the
Bulletin 1394 external shunt modules.
Shunt Module (230V) System Specifications

Shunt Module Specifications System
Kinetix 6000 Number of External Continuous
(230V) IAM Axis Modules Catalog Peak Peak Continuous Passive
Resistance Shunt Power
2094- Quantity Number
Ohms
Current Power Power Shunt Module 1 Watts
2094- Amps kW Watts
AC05-MP5 – – – – 0
AC05-M01 – – – – 0
AC09-M02 2 2 50 3
0 to 7 N/A – – – – N/A
AC16-M03 – – – –
200 plus 4
AC32-M05 – – – –
ACxx-Mxx 0 to 6 BSP2 28.75 14.1 5.7 200 N/A 2 200 plus 5
ACxx-Mxx 300 1394-SR9A 300 6
ACxx-Mxx 900 1394-SR9AF 900 6
0 to 6 BSP2 4 101.3 41
ACxx-Mxx 1800 1394-SR36A 1800 6
ACxx-Mxx 3600 1394-SR36AF 3600 6
1
Refer to External Shunt Module Specifications on page A-18 for shunt module specifications.
2
Module not part of system configuration.
3 50 or the sum of the AM internal shunt ratings.
4
200 plus the sum of the AM internal shunt ratings.
5
200 plus the sum of the IAM (2094-AC16-M03 and -AC32-M05 only) and AM internal shunt ratings.
6 Use of external shunt disables shunts internal to IAM and AM.
IMPORTANT Use of the Kinetix 6000 (2094-BSP2) shunt module in

combination with the 2094-AC09-M02 IAM, disables
the shunt resistor internal to that IAM. This situation
is unique to the 2094-AC09-M02 IAM. Shunt resistors
internal to adjacent AMs are not disabled. Refer to
the example shown in Figure A.1.

In the example below, the continuous shunt power is 300W. The 50W
resistor in the IAM is disabled when used in combination with the
(2094-BSP2) SM. This example is unique to the 2094-AC09-M02 IAM.
Figure A.1
230V Shunt Power Example (2094-AC09-M02)
Kinetix 6000 (230V) Shunt Power Example

300W Continuous Shunt Power
SM (2094-BSP2) 200W shunt module

AM (2094-AMP5) No internal shunt
AM (2094-AM03) 50W internal shunt
IAM (2094-AC09-M02) 50W internal shunt
In the table below, the 460V system specifications are given for the
IAM internal shunt resistors, the Kinetix 6000 (2094-BSP2) SM, and the
Bulletin 1394 external shunt modules.
Shunt Module (460V) System Specifications

Shunt Module Specifications System
Kinetix 6000 Number of External
(460V) IAM Axis Modules Catalog Peak Peak Continuous Passive Continuous
Resistance Shunt Power
2094- Quantity Number
Ohms
Current Power Power Shunt Module 1
2094- Amps kW Watts Watts
BC01-MP5 – – – – 50 plus 3
BC01-M01 – – – – 50 plus 3
BC02-M02 0 to 7 N/A 2 – – – – N/A 2 50 plus 3
BC04-M03 – – – –
200 plus 4
BC07-M05 – – – –
BCxx-Mxx 1 to 6 BSP2 28.75 28 22.5 200 N/A 2 200 plus 5
BCxx-Mxx 300 1394-SR9A 300 6
BCxx-Mxx 900 1394-SR9AF 900 6
1 to 6 BSP2 4 201.3 162
BCxx-Mxx 1800 1394-SR36A 1800 6
BCxx-Mxx 3600 1394-SR36AF 3600 6
1
Refer to on page A-17 for shunt module specifications.
2 Module not part of system configuration.
3
4
5 200 plus the sum of the IAM and AM internal shunt ratings.
6
Use of external shunt disables shunts internal to IAM and AM.

In the example below, the sum of the IAM, AMs, and SM equal 500W
of continuous shunt power.
Note: Although a 230V system is shown, a 460V IAM, AM, and SM

shunt power adds up the same way.
Figure A.2
230V Shunt Power Example (without external shunt)
Kinetix 6000 (230V) Shunt Power Example

500W Continuous Shunt Power

AM (2094-AM02) No internal shunt
In the example below, the system is identical to that shown in Figure

A.2, except the Kinetix 6000 (2094-BSP2) shunt module is wired to a
Bulletin 1394 external shunt module. The IAM and AM internal shunt
power is disabled and the continuous shunt power is equal to that of
the external shunt module alone.
Note: Although a 230V system is shown, the external shunt disables

the internal shunt capacity of a 460V IAM, AM, and (2094-BSP2)
SM system too.
Figure A.3
230V Shunt Power Example (with external shunt)
Kinetix 6000 (230V) Shunt Power Example Bulletin 1394 External Shunt Module
900W Continuous Shunt Power ALLEN-BRADLEY
Shunt Module
(1394-SR9AF) 900W external shunt
R

CAT. PART SER.
INPUT DC INPUT AC
BUSSMAN CAT. NO.

AM (2094-AM02) No internal shunt

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. The Kinetix 6000 needs to be protected by a device
having a short circuit interrupt current rating of the service capacity
provided or a maximum of 100,000A.
If an upstream circuit protection device is rated for the overload

current and short circuit rating, a supplementary circuit protection
device (such as the 1492) can be used as the only Kinetix 6000 branch
circuit protection device. The upstream fully rated device let-through
must be less than or equal to the 10 kA interrupt rating of the 1492.
The wiring interconnection in Figure A.4 and Figure A.5 provide

examples of the needed protection and follows UL and NEC codes.
Full compliance is dependent on final wiring design and installation.
Figure A.4
Circuit Protection under NEC 1999 110-10 (preferred fully rated devices)
Required Protection Required Protection

under 110-10 of under 110-10 of Fully Rated
Fully Rated Fully Rated NEC 1999 Fused
NEC 1999
Fused Fused Preferred Fully Disconnect
Preferred Fully
Disconnect Disconnect Rated Breakers Fully Rated
Rated Breakers
Fully Rated Fully Rated Breaker
Distribution
Breaker Breaker
Blocks
Breakers Selected
for Device Protection Breakers Selected
Fully Rated Short Circuit for Device Protection
Interrupt Capability Fully Rated Short Circuit
Interrupt Capability
Drive Drive Drive
Figure A.5
Circuit Protection under NEC 1999 110-10 (allowed but no longer preferred)
Required Protection Required Protection

under 110-10 of Traditional under 110-10 of Traditional
NEC 1999 Current Limit NEC 1999 Current Limit
Allowed But Fused Allowed But Fused
No Longer Preferred Disconnect or No Longer Preferred Disconnect or
Distribution Breaker Breaker
Distribution
Blocks Blocks Rated for Rated for
Short Circuit Short Circuit
Breakers Selected Available Available
for Device Protection Limiting to Breakers Selected Limiting to
With Limited Short Short Circuit for Device Protection Short Circuit
Circuit Interrupt Rating of Down With Limited Short Rating of Down
Capability Stream Breaker Circuit Interrupt Stream Breaker
Capability
Drive Drive Drive

Use class CC, J, L, or R fuses, with current rating as indicated in the

table below. The table below lists fuse examples and Allen-Bradley
circuit breakers recommended for use with the Integrated Axis
Modules (2094-xCxx-Mxx) and Line Interface Modules (2094-AL09 and
-BL02).
IMPORTANT Line Interface Modules (2094-AL75S, -BL75S, and

-XL75S-Cx) provide branch circuit protection to the
IAM. Follow all applicable NEC and local codes.
VAC Input Power Control Input Power DC Common Bus Fuse

Catalog Number Bussmann Bussmann Allen-Bradley Bussmann Ferraz
Allen-Bradley Circuit Breaker 1 Fuse
Fuse Circuit Breaker 1 Fuse Shawmut Fuse
2094-AC05-MP5
KTK-R-20 (20A) 1492-CB3H300 140M-F8E-C16 N/A A50P20-1
2094-AC05-M01 1492-CB2H060
2094-AC09-M02 KTK-R-30 (30A) 1492-CB3H400 140M-F8E-C20 FWH-35B A50P35-4
2094-AC16-M03 LPJ-45SP (45A) N/A 140U-H6C3-C50 FWH-60B A50P60-4
1492-SP2D200
2094-AC32-M05 LPJ-80SP (80A) N/A 140U-H6C3-C90 FWH-125B A50P125-4
2094-BC01-MP5
KTK-R-20 (20A) 1492-CB3H300 140M-F8E-C32 FNQ-R-10 (10A) N/A A100P20-1
2094-BC01-M01
2094-BC02-M02 KTK-R-30 (30A) 1492-CB3H400 140M-F8E-C45 1492-CB2H060 FWJ-40A A100P40-1
2094-BC04-M03 LPJ-45SP (45A) 140U-H6C3-C50 FWJ-70A A100P70-1
2094-BC07-M05 LPJ-80SP (80A) 140U-H6C3-C90 FWJ-125A A100P125-1
N/A
2094-AL09 1 KTK-R-25 (25A)
N/A N/A N/A N/A
2094-BL02 1 KTK-R-30 (30A)
1
When using the LIM or Bulletin 1492 circuit protective devices, the maximum short circuit current available from
the source must be limited to 5000 amperes.
ATTENTION Bulletin 1492 and 140M circuit breakers should not

be used on the output of an ac drive as an isolating
disconnect switch or motor overload device. These
devices are designed to operate on sine wave voltage
and the drive’s PWM waveform does not allow it to
operate properly. As a result, damage to the device
will occur.

Contactor Ratings
The table below lists the recommended contactor ratings for

Integrated Axis Modules installed without a Line Interface Module.
Catalog Number Contactor Catalog Number Contactor

230V IAM 460V IAM
2094-AC05-MP5 100-C23x10 (AC Coil) 2094-BC01-MP5 100-C23x10 (AC Coil)
2094-AC05-M01 100-C23Zx10 (DC Coil) 2094-BC01-M01 100-C23Zx10 (DC Coil)
2094-AC09-M02 100-C37x10 (AC Coil) 2094-BC02-M02 100-C37x10 (AC Coil)

100-C37Zx10 (DC Coil) 100-C37Zx10 (DC Coil)
2094-AC16-M03 100-C72x10 (AC Coil) 2094-BC04-M03 100-C60x10 (AC Coil)

100-C72Zx10 (DC Coil) 100-C60Zx10 (DC Coil)
100-C85x10 (AC Coil) 100-C72x10 (AC Coil)
2094-AC32-M05 100-C85Zx10 (DC Coil) 2094-BC07-M05 100-C72Zx10 (DC Coil)
Input Transformer for Control Power
You can use any general purpose transformer with the following
ratings. Refer to Control Power Input on page 2-16 for more
information.
Specification Rating
Input volt-amperes 750 VA (up to 8 axis)
Output voltage 120-240V ac
IMPORTANT For common bus applications, use a single

transformer sized for the entire system, or include
individual transformers for each power rail.

Power Dissipation Specifications
Use the following table to size an enclosure and calculate required

ventilation for your Kinetix 6000 system.
Usage as % of Rated Power Output

Kinetix 6000 Modules (watts)
20% 40% 60% 80% 100%
Integrated Axis Module (IAM Converter) 1

2094-AC05-MP5
19 23 27 31 35
2094-AC05-M01
2094-AC09-M02 33 51 69 87 105
2094-AC16-M03 18 38 60 83 108
2094-AC32-M05 31 64 102 144 190
2094-BC01-MP5
15 20 25 30 35
2094-BC01-M01
2094-BC02-M02 20 30 40 50 60
2094-BC04-M03 22 43 65 86 108
2094-BC07-M05 44 77 111 144 177
Integrated Axis Module (IAM Inverter) or Axis Module (AM) 1

2094-AC05-MP5 or -AMP5 60 65 70 75 80
2094-AC05-M01 or -AM01 62 69 76 83 90
2094-AC09-M02 or -AM02 64 73 82 91 100
2094-AC16-M03 or -AM03 50 72 99 130 165
2094-AC32-M05 or -AM05 106 160 220 285 356
2094-BC01-MP5 or -BMP5 75.7 80.9 86 92 98
2094-BC01-M01 or -BM01 95 120 145 170 195
2094-BC02-M02 or -BM02 98 126 154 182 210
2094-BC04-M03 or -BM03 95 132 171 212 256
2094-BC07-M05 or -BM05 118 182 251 326 406
2094-AL09 N/A N/A N/A N/A 72
2094-AL75S N/A N/A N/A N/A 52.5
2094-BL02 N/A N/A N/A N/A 90
2094-BL75S N/A N/A N/A N/A 42.9
2094-XL75S-Cx N/A N/A N/A N/A 52.5
Shunt Module (SM)
2094-BSP2 68 121 174 227 280
1
Internal shunt power is not included in the calculations and must be added based on utilization.

General Specifications The following sections provide weight, environmental, AC line filter,
external shunt, and maximum feedback cable length specifications for
the Kinetix 6000 system.
Weight Specification
Kinetix 6000 Catalog Number Description Kinetix 6000 Catalog Number Description
Module Module
2094-AC05-MP5 2.23 kg (4.9 lbs) 2094-BC01-MP5 4.98 kg (11.0 lbs)
2094-AC05-M01 2.27 kg (5.0 lbs) 2094-BC01-M01 5.03 kg (11.1 lbs)
IAM IAM
(230V) 2094-AC09-M02 2.31 kg (5.1 lbs) (460V) 2094-BC02-M02 5.08 kg (11.2 lbs)
2094-AMP5 1.46 kg (3.2 lbs) 2094-BMP5 2.44 kg (5.4 lbs)
2094-AM01 1.50 kg (3.3 lbs) 2094-BM01 2.49 kg (5.5 lbs)
AM 2094-AM02 1.54 kg (3.4 lbs) AM 2094-BM02 2.54 kg (5.6 lbs)
(230V) (460V)
2094-AM03 3.13 kg (6.9 lbs) 2094-BM03 4.58 kg (10.1 lbs)
2094-AM05 3.18 kg (7.0 lbs) 2094-BM05 4.98 kg (11.0 lbs)
2094-AL09 11.33 kg (25 lbs) LIM 2094-BL02 18.14 kg (40 lbs)
LIM (460V) 2094-BL75S 17.15 kg (37.8 lbs)
(230V) 2094-AL75S 10.70 kg (23.6 lbs) LIM 2094-XL75S-Cx 10.70 kg (23.6 lbs)
(230/460V)
2094-PRS1 1.05 kg (2.3 lbs) 2094-PR1 1.04 kg (2.3 lbs)
2094-PRS2 1.59 kg (3.5 lbs) 2094-PR2 1.41 kg (3.1 lbs)
2094-PRS3 2.14 kg (4.7 lbs) Power Rails 2094-PR4 2.18 kg (4.8 lbs)
Power Rails 2094-PRS4 2.67 kg (5.9 lbs) 2094-PR6 2.90 kg (6.4 lbs)
(Slim) 2094-PRS5 3.11 kg (6.8 lbs) 2094-PR8 3.63 kg (8.0 lbs)
2094-PRS6 3.55 kg (7.8 lbs)
2094-PRS7 3.99 kg (8.8 lbs) SM (460V) 2094-BSP2 3.1 kg (6.8 lbs)
2094-PRS8 4.43 kg (9.7 lbs) Slot Filler Module 2094-PRF 0.45 kg (1.0 lbs)
Environmental Specifications
Specification Operational Range Storage Range (non-operating)

Temperature 0° C to 50° C (32° F to 122° F) -40° C to 70° C (-40° F to 158° F)
Humidity 5 to 95% non-condensing 5 to 95% non-condensing
Altitude 1000 m (3281 ft) 3000 m (9843 ft) during transport
0.152 mm (0.006 in.) peak-to-peak displacement (max), 0.381 mm (0.015 in.) peak-to-peak displacement (max),
Vibration 1.0 g peak (max) acceleration @ 5-2000 Hz 2.5 g peak (max) acceleration @ 5-2000 Hz
15 g, 11 ms half-sine pulse (3 pulses in each direction 30 g, 11 ms half-sine pulse (3 pulses in each direction
Shock of 3 mutually perpendicular directions) of 3 mutually perpendicular directions)

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. These tables
assume the use of recommended cables as shown in the Kinetix
Motion Control Selection Guide (publication GMC-SG001).
The maximum feedback cable lengths for Kinetix 6000 drives with
MP-Series Low Inertia (MPL) and Integrated Gear (MPG) motors are
given in the table below.
MPL-A (230V) Motors MPL-B (460V) Motors MPG-A MPG-B

(230V) Motors (460V) Motors
Drive Family Absolute Absolute Absolute Absolute
High-Res 1 Incremental 2 High-Res 1 Incremental 2 Resolver 3 High-Res 4 High-Res 4
m (ft) m (ft) m (ft) m (ft) m (ft) m (ft) m (ft)
Kinetix 6000 30 (98.4) 30 (98.4) 90 (295.3) 30 (98.4) 90 (295.3) 30 (98.4) 60 (196.8)
1 Refers to MPL-A/BxxxxS/M (single-turn or multi-turn) low inertia motors with absolute high-resolution feedback.
2
Refers to MPL-A/BxxxxH low inertia motors with 2000-line incremental feedback.
3
Refers to MPL-A/BxxxxR low inertia motors with 2-pole resolver feedback.
4 Refers to MPG-A/BxxxxS/M (single-turn or multi-turn) integrated gear motors with absolute high-resolution
feedback.
MP-Series Food Grade (MPF) and Stainless Steel (MPS) motors are
given in the table below.
MPF-A or MPS-A (230V) Motors MPF-B or MPS-B (460V) Motors

Drive Family Absolute Absolute
High-Resolution 1, 2 High-Resolution 1, 2
m (ft) m (ft)
Kinetix 6000 30 (98.4) 90 (295.3)
1
Refers to MPF-A/BxxxxS/M (single-turn or multi-turn) food grade motors with absolute high-resolution feedback.
2 Refers to MPS-A/BxxxxS/M (single-turn or multi-turn) stainless steel motors with absolute high-resolution
feedback.
1326AB, TL-Series, and F-, H-, N-, and Y-Series motors are given in the
table below.
1326AB (M2L/S2L) 1326AB F-, H-, N-, or Y-Series TL-Series Motors

(460V) Motors (460V) Motors (230V) Motors
Drive Family Absolute Resolver 2 Incremental 3 Incremental 4
High-Resolution 1 m (ft) m (ft) m (ft)
m (ft)
Kinetix 6000 90 (295.3) 90 (295.3) 30 (98.4) 30 (98.4)
1
Refers to 1326AB-Bxxxx-M2L/S2L (single-turn or multi-turn) motors with absolute high-resolution feedback.
2 Refers to 1326AB-Bxxxx-21 motors with resolver feedback.
3
Refers to F-, H-, N-, or Y-Series motors with incremental (optical encoder) feedback.
4
Refers to TL-Axxxx-H low inertia motors with incremental feedback.

AC Line Filter The table below contains specifications for AC Line Filters available
for use with all 230V and 460V systems.
Specifications
Specifications
AC Line Filter
Catalog Number Voltage Phase Current Power Weight Humidity Vibration Operating
Loss kg (lb) Temperature
30A @ 50° C 2.7
2090-XXLF-X330B 38W
(122° F) (5.9)
2090-XXLF-375 500V ac 75A @ 50° C 5.2 10-200 Hz -25 to 85° C
Three 57W 90% RH
2090-XXLF-375B 50/60 Hz (122° F) (11.4) @ 1.8 g (-13 to 185 ° F)
100A @ 50° C 9.5

2090-XXLF-3100 75W
(122° F) (20.9)
Use the table below to determine which AC line filter is best suited for
your Kinetix 6000 drive.
Drive Catalog Number AC Line Filter Catalog

Number
2094-AC05-MP5
2094-AC05-M01 2090-XXLF-X330B
2094-AC09-M02
2094-AC16-M03 2090-XXLF-375
2094-AC32-M05 2090-XXLF-3100
2094-BC01-MP5
2094-BC01-M01 2090-XXLF-X330B
2094-BC02-M02
2094-BC04-M03 2090-XXLF-375B
2094-BC07-M05 2090-XXLF-3100

External Shunt Module The following sections provide external passive and active shunt
module specifications. These shunt modules are compatible with the
Specifications Kinetix 6000 drives with regenerative loads that exceed the capacity of
the internal shunt resistor (IAM/AM).
External Passive Shunt Module Specifications
These external passive shunt modules wire to the Kinetix 6000 Shunt
Module (2094-BSP2).
Specifications
External Shunt Drive
Voltage Resistance Peak Peak Cont. Shipping Bussmann
Catalog Number Range Power Current Power Weight Replacement Fuse
VAC
Ohms kW Amps Watts kg (lbs)
230 1 41.0 101.25 FNQ-R-20-R1 1
1394-SR9A 4 300 3.63 (8)
460 160.0 20.0 FWP50A14F
1
230 41.0 101.25 FNQ-R-20-R11
1394-SR9AF 4 900 3.63 (8)
460 160.0 20.0 FWP50A14F
1
230 41.0 101.25 FNQ-R-20-R1 1
1394-SR36A 4 1800 8.6 (19)
460 160.0 20.0 FWP50A14F
1 FNQ-R-25-R1 1
230 41.0 101.25
1394-SR36AF 4 3600 9.0 (20)
460 160.0 20.0 FWP50A14F
1 Requires the use of an FNQ fuse with an adapter to allow the smaller body fuse to fit the larger FWP fuse holder.
External Active Shunt Module Specifications
These Bulletin 1336 external active shunt modules wire directly to the
DC bus.
Specifications
Shunt Module Drive Continuous Shipping
Kinetix 6000 Drives Catalog Number Resistance Peak Peak
Voltage Ohms Power Current Power Weight Fuse Replacement
VAC kW Amps Watts kg (lbs)
1336-MOD-KA005 28.0 6 15 375 A50P10
2094-ACxx-Mxx 230V
1336-MOD-KA010 13.2 12 30 750 A50P20
6.8 (15)
1336-MOD-KB005 104.0 6 7.5 375 A60Q
2094-BCxx-Mxx 1336-MOD-KB010 460V 52.0 12 15 750 A60Q
1336-MOD-KB050 10.0 60 76 3750 33.8 (75) A70QS35
Note: Refer to Allen-Bradley Heavy Duty Dynamic Braking

(publication 1336-5.64) for dimensions and catalog numbers of
the shunt modules listed in the table above.

Resistive Brake Module The following resistive brake modules are compatible with the Kinetix
6000 drive system.
Specifications
Drive Peak Drive Current Continuous
Catalog Number Voltage Resistance 1 Peak Energy
Power
Weight
Ohms Joules Amps 0-pk Amps rms kg (lb)
Volts Watts
2090-XB33-32 32
150 33 23 30 1.91 (4.22)
2090-XB33-16 16
2090-XB120-06 230 or 460 6
2090-XB120-03 3 290 120 85 45 2.75 (6.06)
2090-XB120-01 1
1 Tolerance = ± 10%.
Dimensions Within this section you will find dimension drawings for the following
Kinetix 6000 system components:
• Integrated Axis Modules

• Axis Modules
• Shunt Module
• Slot Filler Module
• Power Rail
• Line Interface Modules
• Mounting Brackets
For dimensions of Kinetix 6000 accessory items, refer to the Kinetix

Motion Control Selection Guide (publication GMC-SG001).

Integrated Axis Module Dimensions
Figure A.6
2094-AC05-MP5, AC05-M01, and -AC09-M02 (230V)
2094-BC01-MP5, -BC01-M01, and -BC02-M02 (460V)
A Dimensions are in millimeters (inches)

B
125
20 (4.9)
(0.8) 8.9
(0.35)
F
2094-AC05-M01 (230V) shown
2090-XXNFxx-Sxx (flying lead)

Feedback Cable with
D 2090-K6CK-D15Mxx
Low Profile Connector Kit
Power Rail
62
Important: Additional clearance below the connector
(2.45)
is necessary to provide the recommended cable bend
This view illustrates the radius.
additional clearance required for
premolded cable connectors.
2090-UXNFBxx-Sxx (premolded connector) Feedback Cable
Note: Modules are shown mounted to the power rail and the
dimensions reflect that in the depth of the module.
Kinetix 6000 IAM A B D E F

mm (in.) mm (in.) mm (in.) mm (in.) mm (in.)
2094-AC05-MP5
2094-AC05-M01 198 (7.8) 176 (7.0) 51 (2.0) 206 (8.2) 231 (9.1)
2094-AC09-M02
2094-BC01-MP5
2094-BC01-M01 272 (10.7) 249 (9.8) 0 (0) 256 (10.1) 281 (11.0)
2094-BC02-M02

Figure A.7
2094-AC16-M03 and -AC32-M05 (230V)
2094-BC04-M03 and -BC07-M05 (460V)
B C
8.9
(0.35)
2094-BC04-M03 (460V) shown F
2090-XXNFxx-Sxx (flying lead) Feedback Cable with

Power Rail 2090-K6CK-D15Mxx Low Profile Connector Kit
62
Important: Additional clearance below the connector
(2.45)
is necessary to provide the recommended cable bend
Modules are shown mounted to the power rail and the dimensions
reflect that in the depth of the module.
Kinetix 6000 IAM A B C E F

2094-AC16-M03 125 (4.9)
198 (7.8) 176 (7.0) 302 (11.9) 420 (16.5)
2094-AC32-M05 196 (7.7)
2094-BC04-M03 256 (10.1) 374 (14.7)
272 (10.7) 249 (9.8) 196 (7.7)
2094-BC07-M05 318 (12.5) 436 (17.2)

Axis Module Dimensions
Figure A.8
2094-AMP5, -AM01, and -AM02 (230V)
2094-BMP5, -BM01, and -BM02 (460V)
A
B
Dimensions are in millimeters (inches) 70
20 (2.76)
(0.8) 8.9
(0.35)
F
2094-AM01 (230V) shown
2090-XXNFxx-Sxx (flying lead)

Feedback Cable with 2090-K6CK-D15Mxx
D Low Profile Connector Kit
Power Rail
62 Important: Additional clearance below the connector

(2.45) is necessary to provide the recommended cable bend
A B D E F
Kinetix 6000 AM mm (in.) mm (in.) mm (in.) mm (in.) mm (in.)
2094-AMP5
2094-AM01 198 (7.8) 176 (7.0) 51 (2.0) 206 (8.2) 231 (9.1)
2094-AM02
2094-BMP5
2094-BM01 272 (10.7) 249 (9.8) 0 (0) 256 (10.1) 281 (11.0)
2094-BM02

Figure A.9
2094-AM03 and -AM05 (230V)
2094-BM03 and -BM05 (460V)
B C
8.9
(0.35)
2094-BM03 (460V) shown

F
Power Rail 2090-XXNFxx-Sxx (flying lead) Feedback Cable with

2090-K6CK-D15Mxx Low Profile Connector Kit
62 Important: Additional clearance below the connector

(2.45) is necessary to provide the recommended cable bend
Modules are shown mounted to the power rail and the dimensions
reflect that in the depth of the module.
Kinetix 6000 AM A B C E F
2094-AM03
198 (7.8) 176 (7.0) 70 (2.8) 302 (11.9) 420 (16.5)
2094-AM05
2094-BM03 256 (10.1) 374 (14.7)
272 (10.7) 249 (9.8) 141 (5.5)
2094-BM05 318 (12.5) 436 (17.2)

Shunt Module Dimensions
Figure A.10
2094-BSP2
263
(10.3) 70
249 Dimensions are in millimeters (inches) (2.76)
(9.8)
123 43
20 (4.8) 20 (1.7)
(0.8) (0.8)
281
(11.0)
256
(10.1)
Power Rail

Slot Filler Module Dimensions
Figure A.11
2094-PRF
62.1
2.45
70.1
56.4 2.76
2.22
Dimensions are in millimeters (inches)
206.2
8.12
Power Rail Dimensions
Figure A.12
2094-PRS1 (Slim)
134.6
22.9 (5.3)
(0.90) 88.9
(3.5) ∅ 7.95 25.4
(O.313) TYP. (1.0)
25.4
241.3 (1.0)
Dimensions are in millimeters (inches) (9.5)
190.5
(7.5)
∅ 15.88 12.4
69.9 (O.625) TYP.
(2.75) (0.49)

Figure A.13
2094-PRS2, -PRS3, -PRS4, -PRS5, -PRS6, -PRS7, and -PRS8 (Slim)
22.9 A
(0.90) B ∅ 7.95
C Dimensions are in millimeters (inches) (O.313) TYP. 25.4
(1.0)
25.4
241.3 (1.0)
(9.5)
190.5
(7.5)
∅ 15.88
(O.625) TYP. 12.4
(0.49)
Catalog Number Description Dimension A Dimension B Dimension C

mm (in.) mm (in.) mm (in.)
2094-PRS1 Refer to Figure A.12
2094-PRS2 2 axis power rail 205.7 (8.10) 124.5 (4.90) N/A
2094-PRS5 5 axis power rail 419.1 (16.50) 337.8 (13.30) 195.6 (7.70)

Figure A.14
2094-PR1, -PR2, -PR4, -PR6, and -PR8
A
12.7 B
(0.50)
C Dimensions are in millimeters (inches) 25.4
(1.0)
∅ 7.95
(O.313) TYP.
198.1 25.4
(7.80) (1.0)
146.05
(5.75)
∅ 15.88
(O.625) TYP.
12.2
(0.48)
Catalog Number Description Dimension A Dimension B Dimension C

mm (in.) mm (in.) mm (in.)
2094-PR1 1 axis power rail 185.42 (7.30) 160.02 (6.30) N/A
2094-PR6 6 axis power rail 541.02 (21.30) 515.62 (20.30) 302.26 (11.90)
2094-PR8 8 axis power rail 683.26 (26.90) 657.86 (25.90) 373.38 (14.70)

Line Interface Module Dimensions
Figure A.15
2094-AL09 (230V)
325
(12.8)
184.7 187.7 Dimensions are in millimeters (inches)

(7.27) (7.39)
197
(7.75)
3x Ø 16 6x Ø 7.9 12.7 22
(0.63) (0.31) 187.7
(0.5) (0.87)
(7.39)
3x 28.7 (1.13)
8.9
225 (0.35)
(8.86)
253.1
(9.97)
286.8
(11.29)
28
30.9 142.5 12.7 (1.1)
(1.22) (5.61) (0.5)
20 285 Flying-Lead I/O Cable
(0.79) (11.22) with 2090-K6CK-D26Mxx
IMPORTANT Additional clearance below the Low Profile I/O

connector is necessary to provide the recommended
cable bend radius.

Figure A.16
2094-BL02 (460V)
400
(15.75)
100
(3.9)
2x 206
(8.11)
280 Dimensions are in millimeters (inches)
(11.02)
277
(10.9)
2x 28.5 (1.2)
2x 40.4 27.6
280 (1.59) (1.09)
(11.02)
3x Ø 16 6x Ø 7.9
(0.63) (0.31) 289
12.7
(11.37)
(0.50)
3x 28.7 (1.13)
8.9
(0.35)
252.2
(9.93)
312
(12.28) 197 278.4
(7.8) 250 (10.96)
(9.84)
1.22 (31) 2.5

12.7 (0.1)
20 180
(0.50)
(0.79) (7.09)
360 Flying-Lead I/O Cable
(14.17) with 2090-K6CK-D26Mxx
IMPORTANT Additional clearance below the Low Profile I/O

connector is necessary to provide the recommended
cable bend radius.

Figure A.17
2094-AL75S (230V), -BL75S (460V), and -XL75S-Cx (230/460V)
259.8
(10.23)
CONTROL VAC
CTRL2
CTRL1
195-265 VAC LINE, 50/60 Hz
AUX2
230 VAC SUPPLY

L3
AUX2
L2 AUX1
L1
AUX1

2094-XL75S-Cx is shown
195-265 VAC LOAD, 50/60 Hz
I/O_COM
24 VDC SUPPLY
I/O_PWR
I/O_COM
L3' I/O_PWR
I/O_COM
I/O_PWR
L2'
L1'
Mounting features sized for

M6 (1/4”) hardware
Connectors not shown for clarity.
10.8 (0.425)
2x 33 (1.30) 26.7 A
4x 40.6 (1.60) 2x 12.69 (0.50)
(1.05)
375.9 MAIN VAC
(14.80)
2x 352.4 309.9
309.9 (13.87) (12.20)
(12.20)
2x 33 (1.30) 220
(8.66)
Catalog Number Description Dimension A

mm (in.)
2094-AL75S LIM, 230V
198.3 (7.81)
2094-XL75S-Cx LIM, 230/460V
2094-BL75S LIM, 460V 248.0 (9.76)

Mounting Bracket Dimensions
Figure A.18
Mounting Bracket Dimensions
Ø 7.9 (0.31) TYP. REF 4.2
12.7
(0.16) REF
Ø 15.9 (0.62) TYP. (0.50) TYP.
M6 x 1 holes
(6 Locations) 23.4
(0.92)
40.6
55.3
(1.60)
(2.18)
LIM
PR/PRS
301 ±0.5
(11.86 ±0.020)
356 ±0.5 401 ±0.5

(14.03 ±0.020) (15.79 ±0.020)
PR
PRS
LIM
Ground
Stud
76.2 89.3 ±0.5
(3.0) (3.51 ±0.020)
In the figure below, the LIM (2094-AL75S or -XL75S-Cx) is shown

mounted on Bulletin 2094 Mounting Brackets.
Figure A.19
LIM on 2094 Mounting Brackets
PR/PRS
PRS
PR
PR
LIM LIM
Mounting Bracket
(2094-XNBRKT-1)
428.6
(16.87) MAIN VAC
276.2
(10.87)
Dimensions are in millimeters (inches) Line Interface Module

PR/PRS
PRS
PR
PR
LIM LIM
Mounting Bracket
(2094-XNBRKT-1)
Note: Only the 2094-AL75S and -XL75S-Cx models are compatible with the 2094 Mounting brackets. The
2094-BL75S, -AL09, and -BL02 models are not compatible.


Appendix B
Interconnect Diagrams
Chapter Objectives This appendix contains the following interconnect diagrams:
• Power Interconnect Diagrams

• DC Common Bus Interconnect Diagrams
• Shunt Module Interconnect Diagrams
• Resistive Brake 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.

B-2 Interconnect Diagrams
Note Information
1 For power wiring specifications, refer to Power Wiring Requirements on page 3-17.
2 For input fuse and circuit breaker sizes, refer to Circuit Breaker/Fuse Specifications on page A-11.
3 For AC line filter specifications, refer to AC Line Filter Specifications on page A-17.
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. Refer to Contactor Ratings on page A-13.
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 Determine Your Type of Input Power on page 3-3 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. Refer to
Contactor Enable Relay on page 2-14. 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 1336 Active Shunt Input Fuse Specifications for input fuse specifications. Current requirements are for master only shunt applications as
shown in Figure B.11. For master/slave applications (Figure B.12) you must multiply the current requirement by the number of shunt units.
20 Refer to 1336 Active Shunt Fault Relay Specifications 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.
21 TB3-2 (TS_22) can be wired to ControlLogix input as overtemp warning in user program.
22 Firmware version 1.071 (or higher) is required to use the DBRK outputs on the Kinetix 6000 IAM or AM.
23 The safety relay time delay should be set beyond the time required to stop and disable the axis when running at full speed.
24 Drive Enable Input Checking must be selected in Axis Properties.

Interconnect Diagrams B-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 B.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.
Refer to Appendix C for catalog numbers of available AC line filters.
Figure B.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.

ATTENTION
Figure B.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.

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

B-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 B.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 B.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
B-9

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

Follower IAMs via the DC common bus.
Figure B.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 B.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 B.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. Refer to Appendix C for a list
of external shunt resistor catalog numbers available for the Kinetix
6000.
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 B.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. Refer to Appendix C
for a list of external shunt resistor catalog numbers available for the
Kinetix 6000.
Figure B.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 Input Current

1336- Description Requirements
Kx005 or Kx010 Input current requirement to power logic for fault 0.05A
contact operation.
KB050 Input current requirement to power fan and logic for 0.65A
fault contact operation.
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. Refer to Appendix C for a list of external shunt resistor
catalog numbers available for the Kinetix 6000.
Figure B.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

Resistive Brake Module An example diagram of the Resistive Brake Module (RBM) wired to a
Kinetix 6000 IAM/AM is shown in the figure below. Refer to Appendix
Interconnect Diagrams C for a list of RBM catalog numbers available for the Kinetix 6000.
Figure B.13
Resistive Brake Module Interconnect Diagram
Kinetix 6000 Bulletin 2090

IAM/AM RESISTIVE BRAKE MODULE
Note 13 2090-XBxx-xx
Note 9 Note 9
Cable Shield Cable Shield
Note 9 Clamp Clamp
Cable Shield Motor Power

Clamp Drive Connections Motor Connections
Connections
4 4 4 D
3 3 3 C GND
Motor Power W W_DRIVE W_MTR W
(MP) Connector 2 2 2 B
V
U
1 1
V_DRIVE
U_DRIVE
V_MTR
U_MTR
1 A
V
U M
2090-XXNRB-14F0P7
RBM to Drive Interface Cable
Refer to AM/Motor
Note 14
beginning on page B-17
1 for motor power cable
CONT EN- Contactor Enable catalog numbers.
2 Auxiliary 230V ac
CONT EN+ (CED) Connector Note 14
Input (TB4) Connector
Note 12
(2090-XB120-xx only)
2
L2
6 1
BR- L1
MBRK - Motor Brake
5 BR+ Connections
MBRK + I/O Connections
4 (TB3) Connector
COM COM
Motor/Resistive 3
PWR +24V 8
Brake (BC) Connector SHIELD
2 7 T1
DBRK - COIL_A2
1 Note 22 6
DBRK + COIL_A1 K
5
SHIELD
4
1 CONSTAT_42
I/O (IOD) Connector +24V_PWR 3
Note 24 2 CONSTAT_41
ENABLE BRKTMP1 2
Note 21 TS_22
+24V 1
TS_21
T2
Safety
Relay * Safety Relay Monitor *
or
PLC Input Device * * INDICATES USER-SUPPLIED COMPONENT
Gate Interlock*
Input Safety Output Time Delay
or
Channel Channel Channel
Light Curtain Device*
Note 23
Notes 7, 12
STOP* START*
24V AC/DC CR1*
or
120V AC, M1*
50/60 HZ CR1*
CR1*

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 B.14
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 B.15
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 B.16
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-
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 B.17
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 B.18
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 Wire Low Profile
DBRK - Resistive Brake P Connectors beginning on page 3-45
1 BR+ Connections for proper grounding technique.
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 Wire Low Profile Connectors beginning on page 3-45 for wiring
instructions and a diagram.

connected to H- and F-Series (230V) servo motors.
Figure B.19
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

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

connected to N-Series (230V) servo motors.
Figure B.20
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 B.21
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-AMP5, -AM01, -AM02
1.0A
2094-BMP5, -BM01, -BM02
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 B.22 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 B.22 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 B.22
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 Motor/Resistive Brake Relay on page 2-15.
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.

Motor/Resistive Brake Connections Three-Phase Motor Output
PWR U V W
System Block Diagrams
DBRK MBRK
Motor Shield
FUSE_OK
Figure B.23
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.

B-27

B-28
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 B.24
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).
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
Figure B.25
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 B.26
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

B-30
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
CR1 5 Pin 6
Pin 4 L1' 100-JE CONSTAT_54 IO_COM1

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 B.27
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
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 B.28
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
B-31

B-32
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 5
Pin 4 L1' 100-JE CONSTAT_54 Pin 6 IO_COM1

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 B.29
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
OPL: VAC LOAD OUTPUT CONSTAT_12
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
Three Phase, 1-Stage CONSTAT_41
Pin 9 CONSTAT_42
Line Filter (460VAC) CONSTAT_32
9
IPL
18
1 2 Pin 10 N/C
26
L1_IN CONSTAT_31 CONSTAT_31

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 B.30
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
B-33

OPL: VAC LOAD OUTPUT CONSTAT_12
B-34
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
Three Phase, 1-Stage CONSTAT_41
Pin 9 CONSTAT_42
IPL Line Filter (460VAC) CONSTAT_32
9
18
L1_IN 1 2 CONSTAT_31
26 Pin 10 N/C
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 B.31
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
Drive Connections RBM Enclosure Motor Connections
CR1
GROUND 4 4 GROUND
3 1 2
W DRIVE 3 W MTR
2 3 4
V DRIVE 2 V MTR
1 5 6
U DRIVE 1 U MTR
W BRAKE 11 12
V BRAKE 21 22
Figure B.32
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
B-35

B-36
Drive Connections RBM Enclosure Motor Connections

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 B.33
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
Appendix C
Catalog Numbers and Accessories
Chapter Objectives This appendix lists the Kinetix 6000 drives and accessory items in
tables by catalog number providing detailed descriptions of each
component. This appendix describes catalog numbers for:
• Integrated Axis Modules

• Axis Modules
• Shunt Module
• Power Rails
• Power Rails and Slot Fillers
• RSLogix 5000 Software
• Line Interface Modules
• Resistive Brake Modules
• AC Line Filters
• External Shunt Resistor Kits
• Cables
• Connector Kits and Miscellaneous Accessories
Contact your local Allen-Bradley sales office for additional

information. Refer to the Kinetix Motion Control Selection Guide
(publication GMC-SG001) for details on products.

C-2 Catalog Numbers and Accessories
Integrated Axis Modules Use the following table to identify Kinetix 6000 230V Integrated Axis
Modules with converter power ratings of between 3.0 kW to 23.0 kW.
Description Catalog Number

Kinetix 6000, 230V, 3 kW converter, 5A inverter, IAM 2094-AC05-MP5
Kinetix 6000, 230V, 3 kW converter, 9A inverter, IAM 2094-AC05-M01
Note: Contact your Allen-Bradley sales representative for availability of Kinetix 6000 (230V) Safe-Off drives.
Use the following table to identify Kinetix 6000 460V Integrated Axis
Modules with converter power ratings of between 6.0 kW to 45.0 kW.
Description Catalog Number Catalog Number

(with Safe-Off feature) (without Safe-Off feature)
Kinetix 6000, 460V, 6 kW converter, 4A inverter, IAM 2094-BC01-MP5-S 2094-BC01-MP5
Kinetix 6000, 460V, 6 kW converter, 9A inverter, IAM 2094-BC01-M01-S 2094-BC01-M01
Axis Modules Use the following table to identify Kinetix 6000 230V Axis Modules
with output current ratings of between 5A and 49A (continuous).

Kinetix 6000, 230V, 5A, Axis Module 2094-AMP5
Kinetix 6000, 230V, 9A, Axis Module 2094-AM01
Note: Contact your Allen-Bradley sales representative for availability of Kinetix 6000 (230V) Safe-Off drives.
Use the following table to identify Kinetix 6000 460V Axis Modules
with output current ratings of between 4A and 49A (continuous).
Description Catalog Number Catalog Number

(with Safe-Off feature) (without Safe-Off feature)
Kinetix 6000, 460V, 4A, Axis Module 2094-BMP5-S 2094-BMP5
Kinetix 6000, 460V, 9A, Axis Module 2094-BM01-S 2094-BM01

Catalog Numbers and Accessories C-3
Shunt Module Use the following table to identify the Bulletin 2094 Shunt Module for
your Kinetix 6000 application.

Shunt Module, 230V/460V input, 200W 2094-BSP2
Power Rails Use the following table to identify the Power Rail for your Kinetix
6000 application.

Power Rail (Slim), 230V or 460V, 1 axis 2094-PRS1
Power Rail, 230V or 460V, 1 axis 2094-PR1
Power Rail Slot Filler Use the following table to identify the Power Rail Slot Filler for your
Kinetix 6000 application.

Power Rail Slot Filler, 230V or 460V, 1 axis 2094-PRF
RSLogix 5000 Software The Kinetix 6000 drives are configured using RSLogix 5000 software.
RSLogix 5000 is a Windows based application that allows drive
configuration to be done off-line and saved to disk.

RSLogix 5000 Software (version 11.0 or above) 9324-RLD300ENE

Line Interface Modules Use the following table to identify the Line Interface Module for your
Kinetix 6000 application.

Line Interface Module, 230V, 75A, 230V ac auxiliary power output • 24V dc power output with 20A current capacity 2094-AL75S
Line Interface Module, 460V, 75A, 230V ac auxiliary power output • Branch circuit protection and disconnect 2094-BL75S
Line Interface Module, 230/460V, 75A, 110V ac auxiliary power input • Power to multiple 2094 power rails 2094-XL75S-C1
• DC line filter
Line Interface Module, 230/460V, 75A, 230V ac auxiliary power input • External Line Filter 2094-XL75S-C2
Line Interface Module, 230V, 20A • 24V dc power output with 8A current capacity 2094-AL09
Line Interface Module, 460V, 30A • Internal Line Filter 2094-BL02
Resistive Brake Modules Use the following table to identify the Bulletin 2090 Resistive Brake
Module for your Kinetix 6000 application.

Resistive Brake Module, 200-480V, 33A, 16 ohms 2090-XB33-16
AC Line Filters Use the following table to identify the Bulletin 2090 AC Line Filter for
your Kinetix 6000 application.
Drive Catalog AC Line Filter Description AC Line Filter Catalog

Number Number
2094-AC05-MP5
2094-AC05-M01 30 Amp, Three-phase, 500V 50/60 Hz 2090-XXLF-X330B
2094-AC09-M02
2094-AC16-M03 75 Amp, Three-phase, 500V 50/60 Hz 2090-XXLF-375
2094-AC32-M05 100 Amp, Three-phase, 500V 50/60 Hz 2090-XXLF-3100
2094-BC01-MP5
2094-BC01-M01 30 Amp, Three-phase, 500V 50/60 Hz 2090-XXLF-X330B
2094-BC02-M02
2094-BC04-M03 75 Amp, Three-phase, 500V 50/60 Hz 2090-XXLF-375B
2094-BC07-M05 100 Amp, Three-phase, 500V 50/60 Hz 2090-XXLF-3100

External Shunt Resistor Kits Use the following table to identify the Bulletin 1394 and 1336 External
Shunt Resistor Kit for your Kinetix 6000 application.

Passive Shunt Resistor, 300W, 4 ohm 1394-SR9A
Passive Shunt Resistor, 900W, 4 ohm 1394-SR9AF
Passive Shunt Resistor, 1800W, 4 ohm 1394-SR36A
Passive Shunt Resistor, 3600W, 4 ohm (fan) 1394-SR36AF
Active Shunt Resistor 1336-MOD-KA005
Active Shunt Resistor 1336-MOD-KA010
Active Shunt Resistor 1336-MOD-KB005
Note: Use of an external passive shunt resistor requires the 2094-BSP2 Shunt Module.
Cables Use the following tables to identify motor power, feedback, interface,
and brake cables for your Kinetix 6000 with 230/460V motors. For
standard available cable lengths, refer to the Kinetix Motion Control
Selection Guide (publication GMC-SG001)
Motor Power Cables

MP-Series (MPL/MPG), 230/460V, non-flex, 16 AWG, straight
2090-XXNPMP-16Sxx
1326AB (M2L/S2L), 460V, non-flex, 16 AWG, straight
MP-Series (MPL/MPG), 230/460V, non-flex, 14 AWG, straight 2090-XXNPMP-14Sxx
MP-Series (MPL/MPG), 230/460V, non-flex, 10 AWG, straight
2090-XXNPMP-10Sxx
1326AB (M2L/S2L), 460V, non-flex, 10 AWG, straight
MP-Series (MPL/MPG), 230/460V, non-flex, 8 AWG, straight 2090-XXNPMP-8Sxx
MP-Series (MPF and MPS), 230/460V, non-flex, 16 AWG, straight 2090-XXNPMF-16Sxx
TL-Series, 230V, non-flex, 16 AWG, straight 2090-XXNPT-16Sxx
1326AB (resolver feedback), 460V, non-flex, 16 AWG, straight 1326-CPB1-xxx
1326AB (resolver feedback), 460V, non-flex, 10 AWG, straight 1326-CPC1-xxx
H-Series 230V, non-flex, 16 AWG, straight 2090-XXNPH-16Sxx
H/F-Series 230V, non-flex, 14 AWG, straight 2090-XXNPHF-14Sxx
H/F-Series 230V, non-flex, 10 AWG, straight 2090-UXNPAHF-10Sxx
H/F-Series 230V, non-flex, 8 AWG, straight 2090-UXNPAHF-8Sxx
N-Series 230V, non-flex, 16 AWG, straight 2090-XXNPN-16Sxx
Y-Series 230V, non-flex, 16 AWG, straight 2090-XXNPY-16Sxx

Motor Feedback Cables
Description Catalog Number for Catalog Number for

Premolded Connector Flying Leads
MP-Series (MPL/MPG), 230V, non-flex, straight
(High Resolution and Incremental Feedback)
2090-UXNFBMP-Sxx 2090-XXNFMP-Sxx
MP-Series (MPL/MPG), 460V, non-flex, straight
(High Resolution Feedback)
MP-Series (MPL), 460V, non-flex, straight
N/A 2090-CDNFDMP-Sxx
(Resolver Feedback)
MP-Series (MPF and MPS), 230/460V, non-flex, straight
N/A 2090-XXNFMF-Sxx
(High Resolution Feedback)
TL-Series, 230V, non-flex, 16 AWG, straight 2090-XXNFT-Sxx N/A
1326AB (M2L/S2L Hi-Res Feedback), 460V, non-flex, straight 2090-UXNFBMP-Sxx 2090-XXNFMP-Sxx
1326AB (Resolver Feedback), 460V, non-flex, straight N/A 1326-CCU-xxx
H/F-Series 230V, non-flex, straight 2090-UXNFBHF-Sxx 2090-XXNFHF-Sxx
N-Series 230V, non-flex, straight 2090-UXNFBN-Sxx 2090-XXNFN-Sxx
Y-Series 230V, non-flex, straight 2090-UXNFBY-Sxx 2090-XXNFY-Sxx
IMPORTANT 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. Refer to the Maximum
Feedback Cable Lengths specification table on page
A-16.
Motor Brake Cable

2 (18 AWG) 2090-UXNBMP-18Sxx
MP-Series motor brake cable, 0.75 mm
TL-Series motor brake cable, 0.75 mm2 (18 AWG) 2090-DANBT-18Sxx
RBM to Drive Interface Cable

Bulletin 2090 Resistive Brake Module to drive interface cable,
2090-XXNRB-14F0P7
2.5 mm2 (14 AWG)
Resistive Brake Module (RBM) to drive interface cable,
2090-XXNRB-10F0P5
6 mm2 (10 AWG)
Resistive Brake Module (RBM) to drive interface cable,
2090-XXNRB-8F0P6
10 mm2 (8 AWG)

SERCOS Interface Fiber-Optic Cables
Use the following table to identify the SERCOS interface fiber-optic

cables for your Kinetix 6000. Connectors are provided at both ends.

SERCOS fiber-optic plastic cable (for use inside enclosure only) 2090-SCEPx-x
SERCOS fiber-optic plastic (PVC) cable (for use outside enclosure) 2090-SCVPx-x
SERCOS fiber-optic plastic (nylon) cable (for use outside enclosure in harsh
2090-SCNPx-x
environments)
SERCOS fiber-optic glass (PVC) cable 2090-SCVGx-x
SERCOS fiber cable bulkhead adapter (2 per pack) 2090-S-BLHD
Note: Cable length (x-x) is in meters. Plastic cable is available in lengths up to 32 m (105.0 ft). Glass cable is
available in lengths between 50 m (164.2 ft) and 200 m (656.7 ft).
Connector Kits and Low Profile Connector Kits

Miscellaneous
Accessories Use the following table to identify the low profile connector kit(s) for
your Kinetix 6000 (IAM/AM/LIM) feedback or I/O connector. Refer to
Chapter 2 for pin, description, and signal information.

Low Profile Connector Kit for I/O (26-pin high density D-shell) 2090-K6CK-D26M
Low Profile Connector Kit for Motor Feedback (15-pin male high density
2090-K6CK-D15M
D-shell)
Low Profile Connector Kit for Motor Feedback (15-pin male high density
2090-K6CK-D15MF
D-shell) with filter
Low Profile Connector Kit for Auxiliary Feedback (15-pin female high
2090-K6CK-D15F
density D-shell)
IMPORTANT Low Profile connector kits are required for use with
2090-XXNFxx-Sxx. or 2090-CDNFDMP-Sxx feedback
cables.
Mounting Bracket

Mounting Bracket for use when panel configuration calls for mounting
the AC line filter behind the 2094 power rail or LIM (2094-AL75S, 2094-XNBRKT-1
-XL75S-C1, or -XL75S-C2).

Panel-Mounted Breakout Boards, Cables, and Kits
Use the following table to identify your breakout board components.

Breakout Board Kit. Contains motor feedback breakout board and
2090-UXBK-D15xx
cable.
Breakout Board, 15-pin, high density D-shell, motor feedback. 2090-UXBB-D15
Breakout Board Cable, 15-pin, high density D-shell, motor feedback. 2090-UXBC-D15xx
Note: Panel-mounted components apply to Kinetix 6000 with absolute high resolution and incremental feedback
applications. For Kinetix 6000 /1326AB motor (resolver feedback) applications use the 2090-K6CK-D15MF
Low Profile connector kit.
Drive End Connector Kits
Use the following table to identify the drive end (mating) connector
kit for your Kinetix 6000 motor feedback connectors. Refer to Chapter
2 for pin, description, and signal information.

Mating Connector Kit for Motor Feedback (15-pin high density D-shell) 2090-UXCK-D15
The following table lists Amp mating connectors that are not available
from Rockwell Automation. Please contact Amp at 1-800-522-6752 or a
distributor for additional information.
Connector I/O Signals (IOD/IOL) Motor Feedback (MF) Auxiliary Feedback (AF)
Components 26-Pin 15-Pin Male 15-Pin Female
High-Density, D-Shell High-Density, D-Shell High-Density, D-Shell
Mating Connector 748365-1 748364-1 748565-1
Crimp Pin
Contacts 748333-4 1 748333-4 1 748610-4 1
Unshielded
748678-2 748678-1 748678-1
Backshell Kit
Shielded
745172-1 745171-5 745171-5
Backshell Kit
Ferrules 2 745508-6 745508-6 745508-6

1
Accepts 22-28 AWG wire.
2 Ferrules are only required for use with shielded backshell kits.

Motor End Connector Kits
Motor Series Motor Connector Kit Description

9101-0325 Straight Power Connector Kit
H-2000
9101-0398 Right-Angle Power Connector Kit
H-3000
H-4000 and 9101-0326 Straight Power Connector Kit

F-4000 9101-0399 Right-Angle Power Connector Kit
9101-0329 Straight Feedback Connector Kit
H-Series and 9101-0330 Straight Brake Connector Kit

F-Series 9101-0402 Right-Angle Feedback Connector Kit
9101-0403 Right-Angle Brake Connector Kit
F-6000
N-Series 9101-1558 Straight Feedback Connector Kit
9101-1698 Brake Connector Kit
Y-Series 9106-0066 Straight Power and Feedback Connector Kit
MPL-A/B3xx, -A/B4xx, -A/B45xx
MPL-A520K
MPL-B520K, -B540K, -B540D, -B560F, and -B580F
MPG-A004-xxx, -A010-xxx, -A025-xxx, -A050-091, -A110-091
2090-MPPC-S Straight Power Connector Kit, 4 mm2 (12 AWG) max.
MPG-B010-xxx, -B025-xxx, -B110-xxx, and -B050-091
1326AB-B4xxx and -B5xxx (M2L/S2L)
MPL-B6xx, -B8xx, -B960B, -B960C, -B980B, -B980C 2090-MPPC-08S Straight Power Connector Kit, 10 mm2 (8 AWG) max.
All MPL-A/Bxxx
All MPG-A/Bxxx 2090-MPFC-S Straight Feedback Connector Kit
All 1326AB (M2L/S2L)
All MPL-A/Bxxx
All MPG-A/Bxxx 2090-MPBC-S Straight Brake Connector Kit
All 1326AB (M2L/S2L)

Module Connector Sets
The following table lists the replacement connector set catalog

numbers for the IAM, AM, SM, LIM, and RBM. These connectors ship
with the modules, but can be ordered as a replacement or spare parts.
Module Catalog Number Description Catalog Number

2094-AC05-Mxx and -AC09-M02 2094-ANCON-1
2094-AC16-M03 and -AC32-M05 Includes Control Power (CPD), DC Bus/AC Input (IPD), and 2094-XNCON-2
Integrated Axis Module (IAM) Contactor Enable (CED) replacement connectors for the IAM
2094-BC01-M01 and -BC02-M02 (converter). 2094-BNCON-1
2094-BC04-M03 and -BC07-M05 2094-XNCON-2
2094-AC05-Mxx, -AC09-M02,
2094-XNINV-1
2094-AMP5, -AM01, -AM02
2094-AM03, -AM05,
2094-ANINV-2
2094-BC04-M03 Includes Motor Power (MP) and Motor/Resistive Brake (BC)
Axis Module (AM) 2094-BM03 replacement connectors for the IAM (inverter) and AM.
2094-BC01-Mxx and -BC02-M02
2094-XNINV-1
2094-BMP5, -BM01, and -BM02
2094-BC07-M05
2094-BNINV-2
2094-BM05
Safe-Off motion allowed jumper replacement used to enable
2090-XNSS-MA
IAM and AM All 230V and 460V models drive operation when external safety circuitry is not used.
Wiring plug header replacement for Safe-Off (SO) connector. 2090-XNSS-WP
Includes External Shunt Resistor (RC) and External Thermal
Shunt Module (SM) 2094-BSP2 2094-XNSHT-1
Switch (TS) replacement connectors for the SM.
Includes VAC Line (IPL), VAC Load (OPL), Control Power (CPL),
2094-AL09 and -BL02 and 24V Brake Power (PSL) replacement connectors for 2094-XNLIM-1
these LIM catalog numbers.
Line Interface Module (LIM) Includes I/O (IOL), VAC Line (IPL), VAC Load (OPL), Control
2094-AL75S, -BL75S, and Power (CPL), 230V Auxiliary Output (P2L), 24V Brake Power
2094-XNLIM-2
-XL75S-Cx (P1L), and 230V Auxiliary Input (APL) replacement connectors
for these LIM catalog numbers.
Includes I/O connector (TB3), drive connector (TB1), and
2090-XB33-xx motor connector (TB2). 2090-XNRBM-1
Resistive Brake Module (RBM)
2090-XB120-xx Includes I/O connector (TB3), 230V input power connector 2090-XNRBM-2
(TB4), drive connector (TB1), and motor connector (TB2).

Index
Numerics high frequency energy 1-21

16 axis SERCOS interface PCI mounting 1-19
card installation instructions subpanels 1-21
P-3 bracket A-31, C-7
1756-MxxSE interface module mounting 1-37, 1-47
3-50 braided ground strap, wiring
1784-PM16SE PCI card 3-50 3-22
24V brake pin-outs, P1L 2-25 brake B-25
24V power LED 4-11 brake power LED 4-11
brake power, LIM
specifications 2-35
A brake relay 2-15
AC line filters breakout kits
catalog numbers C-4 catalog numbers C-8
noise reduction 1-31 building your own cables 3-2
specifications A-17 bus status LED 4-8, 4-10
accessories C-1
acronyms P-4
analog outputs 2-13
C
auxiliary feedback cables
pin-outs 2-8 building your own cables 3-2
specifications 2-17 catalog numbers C-5, C-6, C-7
auxiliary power categories 1-29
input pin-outs, APL 2-24 fiber optic cable length 3-50
input specifications, LIM 2-37 maximum feedback cable
output pin-outs, P2L 2-27 length A-16
output specifications, LIM 2-37 shield clamp 3-39
axis module shield, EMC 3-13, 3-14, 3-15
catalog number C-2 CAD files P-3
connector designators 2-3, 2-4 catalog number
dimensions, 230V A-22 AC line filter C-4
dimensions, 460V A-23 axis module C-2
mounting 1-43 breakout components C-8
power specifications A-4, A-5 external shunt resistor C-5
shipping contents 1-8 fiber optic cables C-7
wiring requirements 3-18 integrated axis module C-2
line interface modules C-4
low profile connector kits C-7
B mating connector kits C-8
before mounting your system 1-7 motor brake cables C-6
block diagrams motor connector kits C-9
converter B-28 motor feedback cables C-6
inverter B-27 motor power cables C-5
LIM B-30, B-31, B-32, B-33, mounting bracket C-7
B-34 power rail slot filler C-3
RBM B-35, B-36 power rails C-3
safe-off feature B-29 RSLogix 5000 C-3
shunt module B-29 shunt module C-3
bonding CE
EMI (ElectroMagnetic Low Voltage Directive 1-3
Interference) 1-19 meeting requirements 1-2, 1-3

I-2 Index
certifications A-1 ControlLogix motion module

Rockwell Automation Product setup and configuration
Certification P-3 manual P-3
circuit breakers A-12 conventions used in this manual
sizing 1-18 P-4
clamp 3-39 converter B-28
clearance requirements 1-10
comm status LED 4-7
D
common bus (refer to DC
common bus) DC common bus
complying with CE 1-2 Follower IAM 1-6, 3-6
EMC directive 1-2 fuse requirements 3-7
Low Voltage Directive 1-3 interconnect diagram B-8, B-9,
connecting B-10, B-12
contactor enable 3-34 Leader IAM 1-6, 3-6
external shunt resistor 3-48 pre-charge 1-6, 3-6
feedback 3-40 total bus capacitance 1-6
I/O 3-40 typical installation 1-6
input power 3-22, 3-29 digital inputs 2-11
motor brake 3-35, 3-37 dimensions
motor power 3-35 AM, 230V A-22
motor shield clamp 3-39 AM, 460V A-23
premolded feedback cables IAM, 230V A-20
3-44 IAM, 460V A-21
SERCOS cables 3-50 LIM, 230/460V A-30
connecting your Kinetix 6000 3-1 LIM, 230V A-28, A-30
connector LIM, 460V A-29, A-30
catalog numbers C-7, C-8, C-9 mounting bracket A-31
connector designators power rail A-27
axis module 2-4 slot filler A-25
integrated axis module 2-4 documentation files P-3
line interface module 2-22 drive status LED 4-7
shunt module 2-19
connector locations E
axis module 2-3 electrical noise
integrated axis module 2-2 see bonding or noise
line interface module 2-20, elevation requirements 1-10
2-21 EMC
shunt module 2-19 cable shield 3-13, 3-14, 3-15
contactor enable motor ground termination 3-12
relay 2-14 EMI (ElectroMagnetic
wiring 3-34 Interference)
contactor specifications A-13 bonding 1-19
contents of manual P-2 enclosure
control power input requirements 1-10
specifications 2-16, 2-36 sizing A-14
control power pin-outs, CPL 2-25 environmental specifications
controlling a brake B-25 A-15
ControlLogix integration P-1 error codes 4-2
Controllogix motion module establishing communications 4-7
programming manual P-3 external active shunt resistor

Index I-3
specifications A-18 I/O power LED 4-11

external passive shunt resistor I/O, LIM
specifications A-18 specifications 2-28
external shunt resistor input connector pin-outs
catalog number C-5 IAM 2-9
mounting 1-49 input power wiring
noise reduction 1-32 3-phase Delta 3-4
wiring 3-48 determining input power 3-3
ground jumper setting 3-7
grounded power configuration
F
3-3
feedback cable length A-16 IAM with LIM 3-22
feedback power supply 2-18 IAM without LIM 3-29
fiber optic cables ungrounded power
catalog numbers C-7 configuration 3-5
receive and transmit input transformer
connectors 3-50 specifications A-13
fiber optic signals 2-12 installing your Kinetix 6000 1-1
Fiber-Optic Cable Installation integrated axis module
Instructions P-3 catalog number C-2
fiber-optic cables connector locations 2-2
drive-to-drive 3-52 dimensions, 230V A-20
filters, AC line A-17 dimensions, 460V A-21
flyback diodes B-26 interconnect diagram B-3, B-4,
Follower IAM 1-6, 3-6 B-6, B-7, B-8, B-9, B-10,
fuse sizing 1-18 B-12
mounting 1-40
G power specifications A-2, A-3
ground jumper setting 3-7 shipping contents 1-7
grounded power configuration wiring requirements 3-17, 3-18
3-3 integration P-1, P-3
grounding interconnect diagrams
multiple subpanels 3-12 2094 with H-Series motor B-22
system to subpanel 3-11 2094 with MPG-A motor B-18,
B-19, B-20
2094 with MPG-B motor B-17
H 2094 with MPL-A motor B-18,
headers B-19, B-20
motion allowed jumper 2-4 2094 with MPL-B motor B-17
high frequency energy 1-21 2094 with N-Series motor B-23
2094 with Y-Series motor B-24
I 2094 with1326AB motor B-21
controlling a brake example
I/O
connections 3-40
B-26
notes B-1
pin-outs, AM 2-5
power, DC common bus B-8,
pin-outs, IAM 2-5
B-9, B-10, B-12
specifications 2-11
power, IAM with LIM B-3, B-4
I/O connector pin-outs
power, IAM without LIM B-6,
LIM 2-24
B-7
I/O pin-outs, IOL 2-23
resistive brake module B-16

I-4 Index
shunt module B-13, B-14, Literature Library P-1, P-3, 4-1

B-15, B-16 logic power 4-1
introduction P-1 Logix controller motion
inverter B-27 instruction set reference
manual P-3
low profile connector kits
K catalog numbers C-7
Kinetix 6000 wiring 3-45
Integration Manual P-3 Low Voltage Directive 1-3
user documentation and CAD
files CD P-3
Kinetix Motion Control Selection M
Guide P-3 maintenance 4-1
Kinetix Safe-Off Feature mating connector kits
Reference Manual P-3 catalog numbers C-8
modules
replacing 1-49
L
motion allowed jumper 2-4, 3-33,
Leader IAM 1-6, 3-6 C-10
LED Motion Analyzer CD P-3
24V power, LIM 4-11 Motion Control Selection Guide
brake power, LIM 4-11 P-3
bus status 4-8, 4-10 motors 3-41
comm status 4-7 brake cable catalog numbers
drive status 4-7 C-6
I/O power, LIM 4-11 connector kits catalog numbers
logic power 4-1 C-9
RBM 230V status 4-12 feedback cable catalog
RBM 24V status 4-11 numbers C-6
shunt fault 4-10 feedback pin-outs 2-6
status 4-1 feedback specifications 2-17
temperature fault 4-10 ground termination 3-12
LIM interconnect diagram
24V brake pin-outs, P1L 2-25 1326AB B-21
control power, CPL 2-25 H-Series B-22
line interface module MPG-A B-18, B-19, B-20
catalog number C-4 MPG-B B-17
connector designators 2-22 MPL-A B-18, B-19, B-20
connector locations 2-20, 2-21 MPL-B B-17
dimensions, 230/460V A-30 N-Series B-23
dimensions, 230V A-28, A-30 Y-Series B-24
dimensions, 460V A-29, A-30 power and brake pin-outs 2-10
interconnect diagram B-3, B-4, power cable catalog numbers
B-6, B-7 C-5
mounting 1-48 power wiring 3-35
power specifications A-6 1326AB 3-15
shipping contents 1-9 MP 3-13, 3-14
system block diagram B-30, Y-Series 3-16
B-31, B-32, B-33, B-34 shield clamp wiring 3-39
variable depth rotary motors brake wiring 3-37
mechanism 1-48 mounting
wiring requirements 3-19

Index I-5
axis module 1-43 LIM

before mounting 1-7 aux power input, APL
bonding 1-19 2-24
bracket 1-37, 1-47 aux power output, P2L
external shunt resistor 1-32, 2-27
1-33, 1-49 I/O, IOL 2-23
guidelines to reduce noise VAC line, IPL 2-26
1-31 VAC load, OPL 2-27
integrated axis module 1-40 motor and brake connector
line interface module 1-48 2-10
power rail 1-38 motor feedback connector 2-6,
resistive brake module 1-34 3-41
shunt module 1-45 safe-off connector
slot filler module 1-46 IAM/AM 2-4
system requirements 1-10 shunt module connector 2-19
mounting bracket power dissipation A-14
catalog number C-7 power rail
dimensions A-31 catalog number C-3
mounting screw 1-42 connecting braided strap 3-22
MOV B-26 dimensions A-27
mounting 1-38
shipping contents 1-8
N
power rail slot filler
no communication 4-7 catalog number C-3
noise P-3 mounting 1-46
also see bonding shipping contents 1-9
noise zones 1-22, 1-23, 1-24, power supply, feedback 2-18
1-25, 1-26, 1-27, 1-28, 1-29, pre-charge 1-6, 3-6
1-34 preface P-1
premolded feedback cables 3-44
P purpose of this manual P-1
panel
cable categories 1-29 R
layout 1-21 related documentation P-3
noise zones 1-22 relay output B-25
ControlLogix 1-29 removing components from
IAM with LIM 1-22, 1-23, power rail 3-8
1-24, 1-25, 1-26, 1-27, replacing modules 1-49
1-34 resistive brake module
IAM without LIM 1-28 interconnect diagram B-16
requirements 1-10 noise reduction 1-34
panel-mounted breakout specifications A-19
components C-8 system block diagram B-35,
pin-outs B-36
auxiliary feedback connector wiring 3-49
2-8 Resistive Brake Module
I/O connector Installation Instructions P-3
IAM/AM 2-5 routing power and signal wiring
LIM 2-24 3-2
input connector RSLogix 5000 catalog number C-3
IAM 2-9

I-6 Index
S control power, LIM 2-36

safe-off environmental A-15
block diagram B-29 external active shunt resistor
motion allowed jumper 2-4, A-18
3-33, C-10 external passive shunt resistor
pin-outs, AM 2-4 A-18
pin-outs, IAM 2-4 feedback
wiring 3-33 cable length A-16
safety reference manual P-3 motor and auxiliary 2-17
SERCOS power supply 2-18
connecting cables 3-50 general power
connections 2-12 AM 230V A-4
SERCOS interface module AM 460V A-5
installation instructions P-3 IAM 230V A-2
shield clamp 3-39 IAM 460V A-3
shipping contents LIM A-6
axis module 1-8 I/O
integrated axis module 1-7 analog outputs 2-13
line interface module 1-9 brake relay 2-15
power rail 1-8 contactor enable relay
shunt module 1-8 2-14
slot filler module 1-9 control power input 2-16
shunt fault LED 4-10 digital inputs 2-11
shunt module B-29 LIM 2-28
catalog number C-3 input transformer A-13
connector designators 2-19 power dissipation A-14
connector locations 2-19 resistive brake module A-19
interconnect diagram B-13, SERCOS connections 2-12
B-14, B-15, B-16 user-supplied components
mounting 1-45 circuit breakers A-12
pin-outs 2-19 line input fusing A-12
shipping contents 1-8 weight A-15
wiring requirements 3-20 status LEDs 4-1
shunt module troubleshooting storage P-2
4-9 surge suppression 3-37, B-26
shunt resistor external system block diagrams
mounting 1-49 converter B-28
sizing an enclosure 1-15 inverter B-27
slot filler module LIM B-30, B-31, B-32, B-33,
see power rail slot filler B-34
SoftLogix integration P-1 RBM B-35, B-36
SoftLogix Motion Card Setup and safe-off feature B-29
Configuration Manual P-3 shunt module B-29
specifications System Design for Control of
AC line filters A-17 Electrical Noise Reference
aux power input, LIM 2-37 Manual P-3
aux power output, LIM 2-37 system mounting requirements
brake power 1-10
LIM 2-35 circuit breakers 1-18
certifications A-1 fuse sizing 1-18
contactor ratings A-13 sizing an enclosure 1-15

Index I-7
transformer sizing 1-17 ventilation 1-11, 1-13, 1-14

ventilation 1-11, 1-13, 1-14
W
T weight specifications A-15
temperature fault LED 4-10 who should use this manual P-1
temperature requirements 1-10 wiring
total bus capacitance 1-6 braided ground strap 3-22
training P-1 building your own cables 3-2
transformer sizing 1-17 contactor enable 3-34
troubleshooting 4-1 external shunt resistor 3-48
24V power LED 4-11 ground jumper setting 3-7
brake power LED 4-11 grounded power configuration
bus status LED 4-8, 4-10 3-3
comm status 4-7 grounding 3-11
drive status LED 4-7 I/O connections 3-40
error codes 4-2 input power 3-22
general system problems 4-13 determining type 3-3
I/O power LED 4-11 IAM with LIM 3-22
RBM 230V status LED 4-12 IAM without LIM 3-29
RBM 24V status LED 4-11 low profile connectors 3-45
shunt fault LED 4-10 motor brake 3-37
shunt module 4-9 motor cable shield clamp 3-39
temperature fault LED 4-10 motor power 3-13, 3-14, 3-15,
3-16, 3-35
requirements 3-1
U
IAM 3-17
ungrounded power configuration IAM, AM 3-18
3-5 LIM 3-19
unpacking your Kinetix 6000 1-7 SM 3-20
user manuals P-3 resistive brake module 3-49
routing power and signal
V wiring 3-2
VAC line pin-outs, IPL 2-26 safe-off feature 3-33
VAC load pin-outs, OPL 2-27 SERCOS fiber optic cables 3-50
variable depth rotary mechanism ungrounded power
1-48 configuration 3-5

I-8 Index

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.
Publication 2094-IN001G-EN-P — September 20051 PN 313665-P07

Supersedes Publication 2094-IN001F-EN-P — July 2005 Copyright © 2005 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.

Kinetix 6000 Multi-Axis Servo Drive: Installation Manual

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Kinetix 6000 Multi-Axis Servo Drive: Installation Manual

Uploaded by

Copyright:

Available Formats

Kinetix 6000 Multi-Axis

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

2094-BMP5-S, -BM01-S, -BM02-S,

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-IN001G-EN-P — September 2005

Publication 2094-IN001G-EN-P — September 2005

Publication 2094-IN001G-EN-P — September 2005

General Shunt Module Troubleshooting . . . . . . . . . . . . . 4-9

Publication 2094-IN001G-EN-P — September 2005

Publication 2094-IN001G-EN-P — September 2005

Publication 2094-IN001G-EN-P — September 2005

• Who Should Use this Manual

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

For power up procedures, troubleshooting tables, and system

SERCOS interface 1756-MxxSE 1784-PM16SE

1 Publication 2094-IN001G-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-IN001G-EN-P — September 2005

Related Documentation The following documents contain additional information concerning

For Read This Document Publication Number

Information on the installation and wiring of Bulletin 2090 Resistive

Publication 2094-IN001G-EN-P — September 2005

Kinetix 6000 Component Catalog Numbers Acronym

Publication 2094-IN001G-EN-P — September 2005

Install Your Kinetix 6000

• Comply with European Union Directives

ATTENTION The following information is a guideline for proper

SHOCK HAZARD To avoid hazard of electrical shock, perform all

1 Publication 2094-IN001G-EN-P — September 2005

For more information on the concept of electrical noise reduction,

This unit is tested to meet Council Directive 89/336/EEC

• EN 50081-2 EMC - Emission Standard, Part 2 - Industrial

The product described in this manual is intended for use in an

CE Requirements (IAM without LIM)

To meet CE requirements when your Kinetix 6000 system does not

• Install an AC line filter (2090-XXLF-xxxx) as close to the IAM (230

Publication 2094-IN001G-EN-P — September 2005

• Combined motor power or feedback cable length for all axes on

CE Requirements (IAM with LIM)

To meet CE requirements when your Kinetix 6000 system includes the

• Install the Line Interface Module (2094-AL09 or -BL02) as close to

Low Voltage Directive

These units are tested to meet Council Directive 73/23/EEC Low

Refer to Appendix B for interconnect information.

Publication 2094-IN001G-EN-P — September 2005

Kinetix 6000 Catalog Numbers Description

Publication 2094-IN001G-EN-P — September 2005

Typical Kinetix 6000 system installations include the three-phase AC

SHOCK HAZARD To avoid personal injury due to electrical shock,

ControlLogix Controller Programming Network

Motor Feedback Motor Power

Publication 2094-IN001G-EN-P — September 2005

In the Kinetix 6000 configuration below, the Leader IAM is connected

IMPORTANT If total bus capacitance of your system exceeds the

1756-M16SE SERCOS interface Module

Workstation with RSLogix 5000

Publication 2094-IN001G-EN-P — September 2005