Installation Instructions

Kinetix 2000 Integrated Axis Module and

Axis Module
Catalog Numbers 2093-AC05-MP1, 2093-AC05-MP2, 2093-AC05-MP5, 2093-AMP1,
2093-AMP2, 2093-AMP5, 2093-AM01, 2093-AM02
Topic Page
Important User Information 2
Before You Begin 3
Installing a Kinetix 2000 Drive 3
IAM and AM Connector Data 7
Wiring Requirements 12
Motor Overload Protection 14
Additional Resources 15

About the Kinetix 2000 Drives

The Kinetix® 2000 integrated axis module (IAM) and up to seven axis modules (AM) mount on
the Bulletin 2093 power rail and provide power and control for up to eight servo motors.
Refer to the Kinetix 2000 Multi-axis Servo Drives User Manual, publication 2093-UM001, for
detailed information on wiring, applying power, troubleshooting, and integration with
ControlLogix®, CompactLogix™, and SoftLogix™ controller platforms.
2 Kinetix 2000 Multi-axis Servo Drives

Important User Information

Read this document and the documents listed in the additional resources section about installation, configuration, and operation of
this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with
installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.

Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be
carried out by suitably trained personnel in accordance with applicable code of practice.

If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired.

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.

WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous
environment, which may lead to personal injury or death, property damage, or economic loss.

ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death,
property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the
consequence.

IMPORTANT Identifies information that is critical for successful application and understanding of the product.

Labels may also be on or inside the equipment to provide specific precautions.

SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that
dangerous voltage may be present.

BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that
surfaces may reach dangerous temperatures.

ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert
people to potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective
Equipment (PPE). Follow ALL Regulatory requirements for safe work practices and for Personal Protective
Equipment (PPE).

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 Kinetix 2000 Multi-axis Servo Drives 3

Before You Begin

Remove all packing material, wedges, and braces from within and around the components. After
unpacking, check the catalog number on the name-plate against the purchase order.

Parts List
Drive component Ships With

• Wiring plugs for main AC input power (IPD), control AC input power (CPD),
Integrated axis module (IAM) contactor enable relay (CED), motor power (MP), and motor brake (BC)
• These installation instructions, publication 2093-IN001

• Wiring plugs for motor power (MP) and motor brake (BC)
Axis module (AM)
• These installation instructions, publication 2093-IN001

TIP The motor feedback connector kit (catalog number 2090-K2CK-D15M) and auxiliary feedback
and I/O connector kit (catalog number 2090-K2CK-COMBO) are not provided. Refer to the
Kinetix Motion Accessories Specifications Technical Data, publication GMC-TD004, for more
information.

Installing a Kinetix 2000 Drive

These procedures assume you have prepared your panel and understand how to bond your
system. For installation instructions regarding equipment and accessories not included here, refer
to the instructions that came with those products.

ATTENTION: To avoid the hazard of electrical shock, perform all mounting and wiring of the IAM,
AM, shunt, and slot filler module, and the Bulletin 2093 power rail before you apply power. Once
power is applied, connector terminals can have voltage present even when not in use.

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 and result in damage to components.

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Set the IAM Ground Jumper for the Power Grounding Configuration
Setting the ground jumper is necessary only when using an ungrounded or high-impedance
grounded power configuration. Refer to the Kinetix 2000 Multi-axis Servo Drives User Manual,
publication 2093-UM001, for diagrams illustrating grounded and ungrounded input power.
Follow these steps to set the ground jumper for ungrounded or high-impedance grounded power
configurations.

1. Remove the front panel on your IAM module.

IMPORTANT Disconnect all headers from the electrical connectors, and the SERCOS fiber-optic
cables on the IAM module, before attempting to remove the front panel.

2. Move the jumper wire to connect CON6 to CON7.

IMPORTANT A jumper wire and the grounding connections (CON5, CON6, and CON7) are on the
lower front of the power converter (leftmost) board, below the input power (IPD)
connector.
The factory default configuration (for grounded power) has the jumper installed
between CON5 and CON6.

Grounded Configuration Ungrounded Configuration

CON5 to CON6 (default setting) CON7 to CON6

3. Replace the IAM module front panel.

You are now ready to mount the IAM module on the power rail.

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 Kinetix 2000 Multi-axis Servo Drives 5

Determine Mounting Order

Mount axis modules in the order (left to right) shown in the figure.

IMPORTANT The integrated axis module (IAM) must be positioned in the leftmost slot on the power rail,
followed by axis modules (AM).
Mount axis modules from left to right starting with the highest power utilization.
The shunt module is mounted to the right of the last AM module. The only exception is the
eight-axis power rail (catalog number 2093-PRS8S) that requires the shunt module mounted
in the rightmost slot.

Module Mounting Order

Highest Power Utilization or Amp Rating Lowest

Integrated Axis Module Axis Module Axis Modules Shunt Module Slot Filler
2093-AC05-MP5 2093-AM01 2093-AMP2 2093-ASP06 2093-PRF

2093-PRS7 Seven-axis Power Rail

ATTENTION: To avoid personal injury due to electrical shock, place a 2093-PRF slot filler module in
all empty slots on the power rail. Any power rail connector without a module disables the
Kinetix 2000 drive system; however, control power is still present.

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6 Kinetix 2000 Multi-axis Servo Drives

Mount a Module
Follow these steps to mount an axis module on the Kinetix 2000 power rail.

IMPORTANT The IAM module must be positioned in the leftmost slot of the power rail, followed by AM
modules in descending order of power utilization.

ATTENTION: To avoid damage to pins on the back of each module, and to make sure that module
pins mate properly with the power rail, install modules as shown below.
ATTENTION: The power rail must be mounted with the connectors in an upright or vertical
orientation to the panel. This provides proper cooling of the modules. Do not mount modules if the
power rail is not within 3° of vertical.

1. Align the module locking screw with its corresponding slot on the power rail.
2. Push the module straight forward, by applying force at the top and bottom edges of the
front cover.
The module is fully seated when each locking clip snaps into the bottom of the power
rail and the locking screw boss is flush at the top of the power rail.
Locking Screws

Locking clips at bottom of

module are not visible.
2093-AC05-MPx 2093-AM0x 2093-AMPx
IAM Module Double-wide Single-wide Shunt module (2093-ASP06) and
AM Module AM Module slot filler (2093-PRF) are not shown.

3. Torque mounting screw to 0.7 N•m (6.0 lb•in).

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IAM and AM Connector Data

Use these illustrations to identify the IAM and AM module connectors and indicators.
Integrated Axis Module Connectors and Indicators
Mounting Screw Sercos Receive (Rx) Connector
DPI Connector Sercos Transmit (Tx) Connector
Sercos Baud Rate and
Optical Power Switches
Sercos Node Seven-segment Status Indicator
Address Switches

Contactor Enable Drive Status

(CED) Connector COMM Status
Bus Status
Control Power
(CPD) Connector
I/O and Machine
Main Power Feedback (IOD/AF) Connector
(IPD) Connector
Motor Brake Motor Feedback
(BC) Connector (MF) Connector
Motor Power
(MP) Connector Integrated Axis Module, Front View
Mounting Tabs (2093-AC05-MPx is shown)

Axis Module Connectors and Indicators

Mounting Screw Sercos Receive (Rx) Connector
Sercos Transmit (Tx) Connector
Sercos Baud Rate and
Optical Power Switches
Seven-segment Status Indicator

Drive Status
COMM Status
Motor Brake Bus Status
(BC) Connector

Motor Power I/O and Auxiliary Feedback

(MP) Connector (IOD/AF) Connector

Motor Feedback
(MF) Connector
Axis Module, Front View
(2093-AM0x is shown)
Mounting Tabs

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Connector Descriptions
Designator Description Connector
BC Motor brake 4-position plug/header
(1)
CED Contactor enable 2-position plug/header
CPD (1) Control input power (drive) 2-position plug/header
(1)
DPI Drive peripheral interface (factory use only) 8-pin mini-DIN
IOD/AF User I/O (drive) and auxiliary feedback 44-pin high-density D-shell (female)
(1)
IPD 230V AC input power (drive) and DC bus 6-position plug/header
MF Motor feedback 15-pin high-density D-shell (female)
MP Motor power 4-position plug/header
Tx and Rx SERCOS transmit and receive SERCOS fiber-optic (2)

(1) Connector is only on integrated axis modules (catalog numbers 2093-AC05-MPx).

Contactor Enable and Power Connector Pinouts

These connectors are supplied with removable wiring plugs. The pins are numbered
consecutively from top to bottom.

IMPORTANT These connectors are available only on integrated axis modules (catalog numbers
2093-AC05-MPx).

Contactor Enable (CED) Connector

CED Pin Description Signal
1 Relay-driven dry contact used in the safety string for a three-phase power CONT EN+
2 contactor. CONT EN-

Control Power (CPD) Connector

CPD Pin Description Signal
1 Control power VAC input line 1 CTRL 1
2 Control power VAC input line 2 CTRL 2

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Main Power and DC Bus (IPD) Connector

IPD Pin Description Signal
1 L1
2 Single- or three-phase input power (230V AC) L2
3 L3 (1)
4 Chassis ground
5 An integral, unregulated power supply, consisting of AC line, three-phase bridge DC+
6 rectifier, and filter capacitors DC-

(1) Not used with single-phase power.

Motor Power and Brake Connector Pinouts

These connectors are supplied with removable wiring plugs and are keyed to prevent incorrect
insertion. The pins are numbered consecutively from top to bottom.

Motor Brake Control (BC) Connector

BC Pin Description Signal
1 +24V brake power (from LIM or customer supplied) PWR
2 MBRK+
Motor brake connections
3 MBRK-
4 Motor brake common COM

Motor Power (MP) Connector

MP Pin Description Signal
1 U
2 Three-phase motor power V
3 W

4 Chassis ground

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I/O Connector Pinouts

These connections require customer-supplied connectors.

IAM and AM I/O and Auxiliary Feedback 44-pin (IOD/AF) Connector

IOD/AF Description Signal IOD/AF Description Signal
Pin Pin
1 Reserved – 23 Registration 2 REG2 (2)
2 Reserved – 24 24V power to registration 24V_REG (2)
3 Reserved – 25 Registration common 24VCOM_REG (2)
4 Reserved – 26 Registration 1 REG1 (2)
5 Reserved – 27 24V power to registration 24V_REG (2)
6 Reserved – 28 24V common 24VCOM (2)
7 Reserved – 29 Overtravel negative input OT- (2)
8 Reserved – 30 24V power output 24V PWR (2)
9 Reserved – 31 Cosine/negative input B COSINE-/B- (1)
10 Reserved – 32 Cosine/positive input B COSINE+/B+ (1)
11 Reserved – 33 Sine/negative input A SINE-/A- (1)
12 Reserved – 34 Sine/positive input A SINE+/A+ (1)
13 Reserved – 35 Reserved –
14 Reserved – 36 24V common 24VCOM (2)
15 Reserved – 37 Overtravel positive input OT+ (2)
16 Data/index negative input DATA- / I- (1) 38 24V power output 24VPWR (2)
17 Data/index positive input DATA+ / I+ (1) 39 24V common 24VCOM (2)
(1) HOME (2)
18 Encoder 5V power supply EPWR_5V 40 Home input
19 Encoder common ECOM (1) 41 24V power output 24VPWR (2)
20 Encoder 9V power supply EPWR_9V (1) 42 24V common 24VCOM (2)
21 Reserved – 43 Enable ENABLE (2)
(2) 24VPWR (2)
22 Registration common 24VCOM_REG 44 24V power output

(1) Machine (auxiliary) feedback.

(2) User I/O.

IMPORTANT +24V_PWR and +24V_COM are a 24V DC power source used only to power inputs on the
44-pin IOD/AF connector.

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IAM and AM Motor Feedback 15-pin (MF) Connector

Stegmann Tamagawa Sine/ Sine/
MF Pin AQB (2) AQB (3) Renishaw
Hiperface 17-bit Serial (1) Cosin (2) Cosine (3)
1 AM+ – AM+ AM+ AM+ AM+ AM+
2 AM- – AM- AM- AM- AM- AM-
3 BM+ – BM+ BM+ BM+ BM+ BM+
4 BM- – BM- BM- BM- BM- BM-
5 DATA+ DATA+ IM+ IM+ IM+ IM+ IM+
6 ECOM ECOM ECOM ECOM ECOM ECOM ECOM
7 (4) – – – – – – –
8 – – S3 – S3 – S3
9 – – – – – – E_OT+
10 DATA- DATA- IM- IM- IM- IM- IM-
11 (5) TS+ TS+ TS+ TS+ TS+ TS+ TS+
12 – – S1 – S1 – S1
13 – – S2 – S2 – S2
14 EPWR_5V EPWR_5V EPWR_5V EPWR_5V EPWR_5V EPWR_5V EPWR_5V
15 – – – – – – E_OT-

(1) Encoder is 17-bit serial. The 3.6V battery connections are made in the 2090-K2CK-D15M connector kit.
(2) Encoder is an incremental with Halls.
(3) Encoder is an incremental without Halls.
(4) Pin 7 is EPWR_9V connection that can be used for third-party motor applications, Hiperface, for example.
(5) Not applicable unless motor has integrated thermal protection.

I/O and Motor Feedback Connector Pinouts

44-pin I/O and Auxiliary 15-pin Motor Feedback
Feedback (IOD/AF) Connector (MF) Connector

Pin 30 Pin 10
Pin 44 Pin 15 Pin 15 Pin 5

Pin 11 Pin 1
Pin 6

Pin 31 Pin 1
Pin 16

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12 Kinetix 2000 Multi-axis Servo Drives

Wiring Requirements
Wire must be copper with 75 °C (167 °F) minimum rating. Phasing of main AC power is
arbitrary, and an earth ground connection is required for safe and proper operation.

ATTENTION: To avoid personal injury and/or equipment damage, make sure 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.
ATTENTION: To avoid personal injury and/or equipment damage, make sure motor power
connectors are used only for connection purposes. Do not use them to turn the unit on and off.
ATTENTION: To avoid personal injury and/or equipment damage, make sure shielded power
cables are grounded to prevent potentially high voltages on the shield.

IMPORTANT NEC and local electrical codes take precedence over the values and methods provided.

IAM Module Power Wiring Requirements

Connects to Terminals Recommended Wire and Size Strip Length Torque Value
Connector
Pin Signal mm2 (AWG) mm (in.) N•m (lb•in)

Solid H05(07) V-U: 1.5 (16)

CED-1 CONT EN+ Stranded H07 V-R: 1.5 (16) 6.5 0.5
Contactor enable (1)
CED-2 CONT EN- Flexible H05(07) V-K: 1.5 (16) (0.26) (4.4)
Flexible with ferrule: 1.5 (16)
CPD-1 CTRL 1 7.0 0.5
Control power
CPD-2 CTRL 2 (0.28) (4.4)
Solid H05(07) V-U: 2.5 (14)
IPD-1 L1
IPD-2 L2 Stranded H07 V-R: 2.5 (14)
Input AC and IPD-3 L3 Flexible H05 (07) V-K: 2.5 (14) 7.0 0.5
DC bus (2) power IPD-4 Flexible with ferrule: 2.5 (14) (0.28) (4.4)
IPD-5 DC+
IPD-6 DC-
(1) The gauge of the contactor-enable wiring depends on the system configuration. Consult your machine builder, the NEC, and applicable local codes.
(2) Keep DC common-bus connections (leader IAM to follower IAM) as short as possible.

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 Kinetix 2000 Multi-axis Servo Drives 13

IAM and AM Module Power Wiring Requirements

Connects to Terminals Recommended Wire and Size Strip Length Torque Value
Connector
Pin Signal mm2 (AWG) mm (in.) N•m (lb•in)

BC-1 PWR Solid H05(07) V-U: 0.75 (18)

BC-2 BRK+ Stranded H07 V-R: 0.75 (18) 7.0 0.5
Brake
BC-3 BRK- Flexible H05(07) V-K: 0.75 (18) (0.28) (4.4)
BC-4 COM Flexible with ferrule 0.75 (18)

MP-1 U Motor power cable depends on

MP-2 V 7.0 0.5
Motor W motor/drive combination
MP-3 (0.28) (4.4)
2.5 (14)
MP-4

IOD/AF and MF Signal Wiring

Refer to the Kinetix Motion Accessories Specifications Technical Data, publication
GMC-TD004, for connector kits, breakout boards, and cable options available for Kinetix 2000
servo drives.

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14 Kinetix 2000 Multi-axis Servo Drives

Motor Overload Protection

This servo drive uses solid-state motor overload protection that operates in accordance with
UL 508C. Motor overload protection is provided by algorithms (thermal memory) that predict
actual motor temperature based on operating conditions as long as control power is continuously
applied. However, when control power is removed, thermal memory is not retained.

In addition to thermal memory protection, this drive provides an input for an external
temperature sensor/thermistor device, embedded in the motor, to support the UL requirement
for motor overload protection.

Some motors supported by this drive do not contain temperature sensors/thermistors; therefore,
motor overload protection against excessive consecutive motor overloads with power cycling is
not supported.

This servo drive meets the following UL 508C requirements for solid-state overload protection.

Motor Overload Protection Trip Point Value

Ultimately 100% overload
Within 8 minutes 200% overload
Within 20 seconds 600% overload

ATTENTION: To avoid damage to your motor due to overheating caused by excessive,

successive motor overload trips, follow the wiring diagram provided in the user manual for
your motor and drive combination.

Refer to your servo drive user manual for the interconnect diagram that illustrates the wiring
between your motor and drive.

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 Kinetix 2000 Multi-axis Servo Drives 15

Additional Resources
These documents contain additional information concerning related products from
Rockwell Automation.

Resource Description
Kinetix 2000 Multi-axis Servo Drives User Manual, Provides information on how to install, configure, startup, and
publication 2093-UM001 troubleshoot your Kinetix 2000 servo drive system.

Kinetix Servo Drives Specifications Technical Data, Provides product specifications for Kinetix Integrated Motion
over EtherNet/IP, Integrated Motion over sercos interface,
publication GMC-TD003 EtherNet/IP networking, and component servo drive families.
Provides product specifications for Bulletin 2090 motor and
Kinetix Motion Accessories Specifications Technical Data,
publication GMC-TD004 interface cables, low-profile connector kits, drive power
components, and other servo drive accessory items.

You can view or download publications at http://www.rockwellautomation.com/literature. To

order paper copies of technical documentation, contact your local Allen-Bradley distributor or
Rockwell Automation sales representative.

Rockwell Automation Publication 2093-IN001B-EN-P - July 2013

Rockwell Automation Support
Rockwell Automation provides technical information on the Web to assist you in using its products.
At http://www.rockwellautomation.com/support you can find technical and application notes, sample code, and links to software
service packs. You can also visit our Support Center at https://rockwellautomation.custhelp.com/ for software updates, support chats
and forums, technical information, FAQs, and to sign up for product notification updates.

In addition, we offer multiple support programs for installation, configuration, and troubleshooting. For more information, contact
your local distributor or Rockwell Automation representative, or visit http://www.rockwellautomation.com/services/online-phone.

Installation Assistance
If you experience a problem 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 product up and running.

United States or Canada 1.440.646.3434

Use the Worldwide Locator at
Outside United States or
http://www.rockwellautomation.com/rockwellautomation/support/overview.page, or contact your
Canada
local Rockwell Automation representative.

New Product Satisfaction Return

Rockwell Automation tests all of its products to help ensure that they are fully operational when shipped from the manufacturing
facility. However, if your product is not functioning and needs to be returned, follow these procedures.

Contact your distributor. You must provide a Customer Support case number (call the phone number
United States
above to obtain one) to your distributor to complete the return process.
Outside United States Please contact your local Rockwell Automation representative for the return procedure.

Documentation Feedback
Your comments will help us serve your documentation needs better. If you have any suggestions on how to improve this document,
complete this form, publication RA-DU002, available at http://www.rockwellautomation.com/literature/.

Allen-Bradley, ControlLogix, CompactLogix, Kinetix, Rockwell Automation, Rockwell Software, and SoftLogix are trademarks of Rockwell
Automation, Inc.

Trademarks not belonging to Rockwell Automation are property of their respective companies.

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Publication 2093-IN001B-EN-P - July 2013

Supersedes Publication 2093-IN001A-EN-P - December 2006 Copyright © 2013 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.