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Installation Instructions
Kinetix 6000M Integrated Drive-MotorCatalog Numbers MDF-SB1003,
MDF-SB1153, MDF-SB1304
Topic Page
Important User Information 2
About the Kinetix 6000M Integrated Drive-Motor 3
Catalog Number Explanation 4
Kinetix 6000M Integrated Drive-Motor System Cable Diagram 5
IDM Unit Connectors and Indicators 6
Before You Begin 7
Installing the Integrated Drive-Motor 8
Product Dimensions 11
Load Force Ratings 13
Connector Data 14
Network and Drive Status Indicators 16
Remove and Replace Shaft Keys and Shaft Seals 17
Cables and Accessory Kits 19
Specifications 21
Motor Overload Protection 22
Additional Resources 23
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2 Kinetix 6000M Integrated Drive-Motor
Rockwell Automation Publication MDF-IN001C-EN-P - January
2015
Important User InformationRead 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.
Labels may also be on or inside the equipment to provide
specific precautions.
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.
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 6000M Integrated Drive-Motor 3
Rockwell Automation Publication MDF-IN001C-EN-P - January
2015
About the Kinetix 6000M Integrated Drive-Motor Kinetix® 6000M
integrated drive-motor (IDM) systems include up to 16 integrated
drive-motor (IDM) units, along with an IDM power interface module
(IPIM). IDM units are mounted directly on the machine and the IPIM
module mounts on the Bulletin 2094 power rail.
IDM units and the IPIM module are compatible with only
400V-class Kinetix 6000 or Kinetix 6200 multi-axis drive
systems.
Each IDM unit is controlled by a communication network that
connects to the IPIM module. The IPIM module passes network data to
the IDM units through daisy-chained network cables. A network
terminator plug connects to the last IDM unit and returns the
network signal to the IPIM module.
Hybrid cables provide both power and inter-module communication
to the IDM units. These cables daisy-chain from one IDM unit to
another and a hybrid terminator is required at the last IDM
unit.
Refer to the Kinetix 6000M Integrated Drive-Motor System User
Manual, publication 2094-UM003, for detailed information on wiring,
applying power, troubleshooting, and integration with
ControlLogix®, CompactLogix™, or SoftLogix™ controller
platforms.
IMPORTANT The Kinetix 6000M integrated drive-motor system is not
compatible with 200V-class drive systems.
IMPORTANT One terminator plug set is provided with the Kinetix
6000M IDM power interface module. It contains a 2090-CTHP8 hybrid
terminator and a 2090-CTSRP network terminator.
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4 Kinetix 6000M Integrated Drive-Motor
Rockwell Automation Publication MDF-IN001C-EN-P - January
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Catalog Number ExplanationMD F - S B xxx x x - Q x 8 x B - S
Safety OptionS = Safe off
Mounting FlangeB= IEC metric oversize
Brake2 = No brake4 = 24V DC brake
Shaft KeyJ = Shaft keyK = No shaft key
Connectors8 = Circular (SpeedTec) connector, right angle, 180°
rotatable
FeedbackQ = 524,288 counts per revolution, 4096 turns
high-resolution multi-turn absolute encoder
Rated SpeedF = 3000 rpmH = 3500 rpmP = 5000 rpmMagnet Stack
Length3 = 76.2 mm (3.0 in.)4 = 101.6 mm (4.0 in.)
Frame Size100 = 100 mm115 = 115 mm130 = 130 mm
Voltage ClassB = 400V NetworkS = SercosSeries TypeF = Food grade
enclosure (including shaft seal)SeriesMD = Premium permanent magnet
rotary servo motor with integrated drive
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Kinetix 6000M Integrated Drive-Motor 5
Rockwell Automation Publication MDF-IN001C-EN-P - January
2015
Kinetix 6000M Integrated Drive-Motor System Cable Diagram
IMPORTANT The colored rings on the hybrid connectors and the
mating cable must match: red-to-red or green-to-green.
R
R
G
G
R
R
G
G
2090-CTSRP Network Terminator
2090-CNSSPSS-12AAxx or 2090-CNSSPRS-AAxx (shown)
Network Cable
2090-CNSSPSS-AAxx, 2090-CNSRPRS-AAxx (shown), 2090-CNSSPRS-AAxx,
or 2090-CNSRPSS-AAxx
Network Cable
2094-SEPM-B24-S IPIM Module
2090-CHBIFS8-12AAxxIPIM-to-IDM Hybrid Cable
Connects the IPIM Module to the First IDM Unit
2090-CHBP8S8-12AAxx Hybrid Cable
2090-CTHP8 Hybrid Terminator
MDF-SB1xxxLast IDM Unit
MDF-SB1xxx First IDM Unit
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Rockwell Automation Publication MDF-IN001C-EN-P - January
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IDM Unit Connectors and Indicators
Item Description Panel ID Item Description Panel ID
1 Network In – 7 Digital Input/Output 1: Registration 2 and
Overtravel - 1
2 Hybrid In – 8 Digital Input/Output 2: Registration 1 and
Overtravel + 2
3 Hybrid Out – 9 Digital Input/Output 3: Home and not used 3
4 Network Out – 10 Drive status indicator D
5 Node Address LSB (0…9) S1 11 Network status indicator N
6 Node Address MSB (10…99) S10
1
23
4
56
78
9
1010 1111
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Kinetix 6000M Integrated Drive-Motor 7
Rockwell Automation Publication MDF-IN001C-EN-P - January
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Before You BeginRemove all packing material, wedges, and braces
from within and around the components. After unpacking, check the
item nameplate catalog number against the purchase order.
Removing the Shaft CapUse your hand to remove the protective cap
that is installed on the motor shaft or pry off the cap with a
screwdriver. Do not use a hammer or other tools as they can damage
the motor shaft.
Installation and Maintenance Guidelines
These guidelines advise you on how to install your product for
safe and reliable service.
A shaft seal is factory installed on an IDM unit. A shaft seal
is required if any of these environmental conditions exist:
• The IDM unit is exposed to fine dust. • The IDM unit is
exposed to fluids, or is attached to an oil-lubricated device. •
The IDM unit requires an IP65 or IP66 rating.
Replace the shaft seal at or before its expected lifetime of 12
months. Refer to Cables and Accessory Kits on page 19 for catalog
numbers of shaft seal kits.
Refer to Specifications on page 21 for a description of IP
ratings.
ATTENTION: Do not attempt to open or modify the IDM unit. This
manual describes modifications that you can perform in the field,
but do not attempt other changes. Only qualified Allen-Bradley
technicians can service an IDM unit.
ATTENTION: To avoid personal injury and damage to the motor, do
not lift or handle the motor by the motor shaft. The cap on the
shaft can come loose and cause you to drop the motor.
ATTENTION: Damage can occur to the bearings and the feedback
device if sharp impact is applied to the shaft during the
installation of couplings and pulleys or when removing the shaft
key. Damage to the feedback device can also result by applying
leverage to the faceplate to remove devices mounted on the shaft.
Do not strike the shaft, key, couplings, or pulleys with tools
during installation or removal. Use a wheel puller to apply
pressure from the user-end of the shaft to remove any friction fit
or stuck device from the shaft.
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Installing the Integrated Drive-MotorInstalling the IDM unit
involves the proper alignment on the machine, effective cable
shield grounding, mounting the IDM unit, and connecting the
cables.
Aligning the IDM Unit The IDM unit can be mounted in any
position. The mounting pilot aides in aligning the IDM unit on a
machine. Refer to Product Dimensions on page 11 for these
dimensions. Stainless steel mounting fasteners are preferred.
The installation must comply with all local regulations. The
installer also must use equipment and installation practices that
promote electromagnetic compatibility and safety.
Cable Shielding Signal integrity is very important for
successful operation of an IDM system, and proper signal grounding
is necessary to achieve this. The hybrid and network cables that
connect one IDM to another IDM are properly grounded through the
daisy-chain connection to the Kinetix drive system.
ATTENTION: Unmounted IDM units, disconnected mechanical
couplings, loose shaft keys, and disconnected cables are dangerous,
if power is applied. Appropriately identify (tag-out) disassembled
equipment and restrict access to (lock-out) electrical power.
Before applying power, remove the shaft key and other mechanical
couplings that could be thrown from the shaft.
ATTENTION: High voltage can build up on hybrid cable shields, if
the shield is not grounded. Verify there is a connection to ground
for all hybrid cable shields.
IMPORTANT IDM system wiring differs from common PWM servo system
wiring configurations; as hybrid and network cables can be
tie-wrapped together and occupy the same cable run. Hybrid and
network cables do not require physical segregation as a result of
more effective wire shielding and improved grounding
techniques.
This exception applies to only the hybrid and network cables
that connect to an IPIM module or between IDM units, and does not
apply to cabling elsewhere in a Kinetix drive system. Refer to the
drive user manuals listed in Additional Resources on page 23, and
the System Design for Control of Electrical Noise Reference Manual,
publication GMC-RM001, for more information.
National Electrical Code, local electrical codes, special
operating temperature, duty cycles, or system configurations take
precedence over the information presented above and the values and
methods provided in the documents referenced above.
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Kinetix 6000M Integrated Drive-Motor 9
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Mount and Connect the IDM Unit To install an IDM unit, follow
these procedures and recommendations.
1. Allow sufficient clearance around the IDM unit for it to stay
within its specified operating temperature range.
• Refer to Specifications on page 21 for the operating
temperature range and clearances.
• Obtain the specified thermal rating by mounting the IDM unit
on a surface with heat dissipation equivalent to a 304.8 x 304.8 x
12.7 mm (12 x 12 x 0.5 in.) aluminum heatsink.
• Do not install the IDM unit in an area with restricted
airflow, and keep other heat producing devices away from the IDM
unit.
2. Refer to Load Force Ratings on page 13 to determine the
radial and axial shaft load limitations of the unit.
3. If sufficient mounting clearance is provided, rotate the
hybrid cable connectors into position prior to installing. If the
mounting clearance is restricted, rotate after installing.
ATTENTION: The IDM unit connects to an IDM power interface
module (IPIM) that stores residual voltage for an extended period
of time. Do not connect an IDM to an IPIM module immediately after
removing power to the IPIM module. Allow the residual power stored
in the IPIM module to dissipate for 60 seconds after power is
removed from the IDM system. This extended discharge period is
needed for the system power to return to a nominal voltage that is
acceptable for reconfiguration of the system.
ATTENTION: Integrated drive-motor units are not intended for
direct connection to an AC power line. The IDM unit is designed for
connection to an IPIM module that controls the application of
power.
ATTENTION: To avoid damage to the bearings and feedback device,
do not apply sharp impact to the shaft during the installation or
removal of couplings, pulleys, or shaft key.
BURN HAZARD: Outer surfaces of the IDM unit can reach high
temperatures, 125 °C (275 °F), during operation. Take precautions
to prevent accidental contact with hot surfaces on the IDM unit.
Consider the surface temperature of the equipment when selecting
equipment and cables for connection.
ATTENTION: Connectors are designed to be rotated into a fixed
position during installation and remain in that position without
further adjustment. Strictly limit the applied forces and the
number of times the connector is rotated to make sure that
connectors meet the specified IP ratings. Apply force to only the
connector and cable plug. Do not apply force to the cable extending
from the cable plug. Do not use tools, for example pliers or
vise-grips, to assist with the rotation of the connector.
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10 Kinetix 6000M Integrated Drive-Motor
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4. Position the IDM unit on the machine in any position.
5. Mount and align the IDM unit by using stainless steel
bolts.
Product Dimensions on page 11 list the mounting hole
diameters.
6. Form a drip loop in the cables directly before each cable
connects to the IDM unit.
A drip loop is a low spot in the cable that lets liquids gather
and drip off the cable rather than flow along the cable to an
electrical connection or the IDM unit.
The hybrid cables and network cables are UL Listed with
insulation ratings of 1000V and 105° C (221° F) and can be routed
in a common wireway.
Refer to the Kinetix 6000M Integrated Drive-Motor System Cable
Diagram diagram on page 5 for a visual reference of cable
positioning.
7. Connect the network and hybrid cables after the IDM unit is
mounted.
• Torque a network M12 cable connector plug to 0.8…1.2 N•m (7…12
lb•in) to fully seat the contacts and secure the connection.
• Hand-tighten the knurled collar on the M23 hybrid cable
approximately 45° to fully seat and lock the connector.
IMPORTANT IDM units with a brake (MDF-SBxxxxP-QJ84B-S) can
require the use of a manual brake-release cable to release the
brake prior to rotating the shaft so the IDM unit aligns with the
machine mounts. Refer to the Manual Brake Release Cable
Installation Instructions, publication 2090-IN037, for more
information.
ATTENTION: To avoid arcing or unexpected motion, always remove
power to the IDM unit before connecting or disconnecting the hybrid
or network cables.
ATTENTION: Make sure that installed cables are restrained to
prevent uneven tension or flexing at the cable connectors. Provide
support at 3 m (10 ft) intervals throughout the cable run.
Excessive and uneven lateral force at the cable connectors can
result in the connector’s environmental seal opening and closing or
wires separating at the cable gland as the cable flexes.
ATTENTION: Cable connectors must be properly aligned before the
connection is secured with the recommended number of turns or
torque value. Improper connector alignment is indicated by the need
for excessive force, such as the use of tools, to fully seat
connectors.
IMPORTANT The internal O-ring is self-conforming and requires a
short period between each connect/disconnect cycle to expand to
full size. Allow at least one minute for the O-ring expansion to
occur before reconnecting a hybrid cable.
TIP The colored rings on the hybrid cable connector and the
mating cable must match: red-to-red or green-to-green.
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Kinetix 6000M Integrated Drive-Motor 11
Rockwell Automation Publication MDF-IN001C-EN-P - January
2015
Product Dimensions Refer to the tables on page 12 for the
physical dimensions shown in this figure.
D
L- LB
LD
LE
2.74(0.108)
LB
LA
G F
HD
P1
63.6(2.50)
AD
42.3(1.66)
N
MDF-SB1003 = 2.87 (0.113)
MDF-SB1153 = 2.87 (0.113)± 0.83 (0.032)
MDF-SB1304 = 3.38 (0.133)± 0.83 (0.032)
P1 P
2.74 (0.108)
L
± 0.83 (0.032)
Reinforcing Boss Extension on Front FaceplateMDF-SB1003 = 2.5
(0.10)MDF-SB1304 = 1.65 (0.07)MDF-SB11153 = 2.0 (0.08)
Shaft Detail with KeyDetail A
Wear Collar / Shaft Shoulder
Flush to Pilot
Pilot Relief Ø
Use shaft end mark or shaft key to orient encoder absolute
position (0° ±10°).
S on M S = Diameter of Mounting Holes M = Diameter of Bolt
Circle
MDF-SB1003P-Qx82B-S motor shown
See Detail A
Connector housing can be rotated one-time within a range of
180°.
Pilot Height
Pilot Ø
Shaft End Threaded HoleMDF-SB1003 IDM UnitsThread - M5 x
0.8-6HThread Depth - 12.5 (0.49)MDF-SB1153 IDM UnitsThread - M6 x
1.0-6HThread Depth - 16 (0.63)MDF-SB1304 IDM UnitsThread - M8 x
1.25-6HThread Depth - 19 (0.75)
Shaft SealRefer to page 19
for Kinetix 6000MIntegrated Drive-Motor
shaft seal kit information.MDF-SB1003 = 5 x 5 x 22 KeyMDF-SB1003
= 6 x 6 x 24 KeyMDF-SB1003 = 8 x 7 x 31 Key
Pilot Relief DiameterMDF-SB1003 = 53.3 (2.10)MDF-SB1153 = 59.7
(2.35)MDF-SB1304 = 71.1 (2.80)
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12 Kinetix 6000M Integrated Drive-Motor
Rockwell Automation Publication MDF-IN001C-EN-P - January
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Dimensions are for non-brake IDM units; footnotes provide
tolerances and brake dimensions.
IDM Unit Dimensions
IDM Unit Dimensions (continued)
MDF-SBADmm (in.)
D (1)
mm (in.)
(1) Acceptable range for this dimension is: MDF-SB1003 IDM units
15.997…16.008 (0.6298 …0.6301). MDF-SB1153 IDM units 18.996…19.009
(0.7479 …0.7483). MDF-SB1304 IDM units 23.996…24.009 (0.9448
…0.9451).
F mm (in.)
G mm (in.)
HD mm (in.)
L (2) mm (in.)
(2) For IDM units with a brake (MDF-SBxxxxxx-Qx84B), adjust
dimensions with these values: MDF-SB1003 catalog numbers add 34.5
(1.36) to L, LB, LD, and LE. MDF-SB1153 catalog numbers add 48.5
(1.91) to L, LB, LD, and LE. MDF-SB1304 catalog numbers add 48.5
(1.91) to L, LB, LD, and LE.
L-LB (3)
mm (in.)
(3) Tolerance for this dimension is ±0.7 (±0.028).
LA mm (in.)
1003 173.8 (6.84) 16.0 (0.629)
5.0 (0.197)
12.95 (0.510)
221.0 (8.70)
271.3 (10.685) 40.0
(1.575)
9.90 (0.39)
1153 178.2 (7.01) 19.0 (0.740)
6.0 (0.236)
15.40 (0.606)
229.0 (9.02)
271.2 (10.675)
10.20 (0.40)
1304 185.8 (7.31) 24.0 (0.945)
8.0 (0.315)
19.82 (0.780)
244.7 (9.63)
310.6 (12.23)
50.0 (1.969)
12.2 (0.48)
MDF-SB LB (1)
mm (in.)
(1) For units with a brake (MDF-SBxxxxxx-Qx84B), adjust
dimensions with these values: MDF-SB1003 catalog numbers add 34.5
(1.36) to L, LB, LD, and LE. MDF-SB1153 catalog numbers add 48.5
(1.91) to L, LB, LD, and LE. MDF-SB1304 catalog numbers add 48.5
(1.91) to L, LB, LD, and LE.
LD (2)
mm (in.)
(2) Dimension is to the rotation point of either connector.
LE (3)
mm (in.)
(3) Dimension is to front of the male connector.
Mmm (in.)
N (4)
mm (in.)
(4) Tolerance for MDF-SB1003 IDM Units = Ø 79.993…80.012
(3.1493…3.1501)Tolerance for MDF-SB1153 IDM Units = Ø 94.991…95.013
(3.7398…3.7407)Tolerance for MDF-SB1304 IDM Units = Ø
109.991…110.013 (4.3303…4.3312)
Pmm (in.)
P1mm (in.)
S (5)
mm (in.)
(5) Tolerance is +0.36 (±0.007).
1003 231.3 (9.11) 183.0 (7.21)
126.3 (4.97)
100.0 (3.937)
80.0 (3.15)
89.4 (3.52)
94.4 (3.72)
7.0 (0.283)
1153 231.2 (9.10) 183.3 (7.22)
126.5 (4.98)
115.0 (4.528)
95.0 (3.74)
98.3 (3.87)
101.6 (4.0) 10.0
(0.401) 1304 260.6 (10.26)
212.0 (8.35)
155.2 (6.11)
130.0 (5.118)
110.0 (4.331)
113.7 (4.48)
117.7 (4.63)
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Kinetix 6000M Integrated Drive-Motor 13
Rockwell Automation Publication MDF-IN001C-EN-P - January
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Load Force RatingsAn IDM unit can operate with a sustained shaft
load. The figure shows radial and axial load force locations, and
the tables provide maximum values for each force.
Load Forces on the Shaft
The tables represent 20,000 hour L10 bearing fatigue life at
various loads and speeds. The 20,000 hour life does not account for
possible application-specific life reduction that can occur due to
bearing grease contamination from external sources.
Loads are measured in pounds; kilograms are mathematical
conversions.
Radial Load Force Ratings
Axial Load Force Ratings with Maximum Radial Load
Axial Load Force Ratings with Zero Radial Load
Cat. No.500 rpmkg (lb)
1000 rpmkg (lb)
2000 rpmkg (lb)
3000 rpmkg (lb)
3500 rpmkg (lb)
5000 rpmkg (lb)
MDF-SB1003 – 74 (163) 59 (129) – 49 (107) 43 (95)
MDF-SB1153 106 (233) 84 (185) 67 (147) – 55 (121) –
MDF-SB1304 140 (309) 111(245) 89 (195) 77 (170) – –
Cat. No.500 rpmkg (lb)
1000 rpmkg (lb)
2000 rpmkg (lb)
3000 rpmkg (lb)
3500 rpmkg (lb)
5000 rpmkg (lb)
MDF-SB1003 – 27 (59) 20 (44) – 16 (35) 13 (29)
MDF-SB1153 52 (114) 39 (86) 29 (64) – 22 (48) –
MDF-SB1304 49 (107) 36 (80) 27 (59) 22 (49) – –
Cat. No.500 rpmkg (lb)
1000 rpmkg (lb)
2000 rpmkg (lb)
3000 rpmkg (lb)
3500 rpmkg (lb)
5000 rpmkg (lb)
MDF-SB1003 – 36 (80) 27 (59) – 21 (47) 18 (40)
MDF-SB1153 69 (152) 51(112) 38 (87) – 30 (66) –
MDF-SB1304 69 (152) 51 (112) 38 (83) 31 (69) – –
Axial Load Force
Radial Load Force is applied at center of shaft extension.
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14 Kinetix 6000M Integrated Drive-Motor
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Connector DataThe following tables and illustrations provide
connector pinouts for the IDM units. Refer to IDM Unit Connectors
and Indicators on page 6 for connector locations.
Hybrid Connector Pinout
Hybrid Output Connector Hybrid Input Connector
Pin Signal Name Pin Signal Name
A DC + A DC +
B DC - B DC -
C 42V + C 42V +
D 42V COM D 42V COM
E Protective Earth (PE) Ground E Protective Earth (PE)
Ground
1
Reserved
1 Reserved
2 2 Brake 24V +
3 3 Brake 24V COM
4 Safety Enable 1+ 4 Safety Enable 1+
5 Safety Enable - 5 Safety Enable -
6 Safety Enable 2+ 6 Safety Enable 2+
7 IDM CAN HI 7 IDM CAN HI
8 IDM CAN LO 8 IDM CAN LO
9 IDM SYSOKOUT 9 IDM SYSOKIN
10 IDM SYSOKRTN 10 IDM SYSOKRTN
D
5
4 2
6 3 1
CB
AE
978
10
Female Connector
A
1
2 4
3 6 5
BC
DE
78
910
Male Connector
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Kinetix 6000M Integrated Drive-Motor 15
Rockwell Automation Publication MDF-IN001C-EN-P - January
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Network Connector Pinout
Digital Input Connectors24V digital I/O signals from
machine-based sensors interface to the IDM unit through three I/O
connectors. Refer to IDM Unit Connectors and Indicators on page 6
for connector locations.
Allen-Bradley® Bulletin 889D and 879D micro-style patchcords,
splitters, and V-cables are compatible with the M12 digital I/O
connectors on the IDM unit. Refer to Cables and Accessory Kits on
page 19 for a list of Kinetix 6000M system cable resources.
Network Output Connector Network Input Connector
Pin Signal Name Female Connector Pin Signal Name Male
Connector
1 TX+ 1 RX+
2 RTN RX+ 2 RTN TX-
3 RTN RX- 3 RTN TX+
4 TX- 4 RX-
5 REF 5 REF
ID Digital Inputs Pin Signal Name (1)
(1) Detailed information about the digital inputs is available
in the Kinetix 6000M Integrated Drive-Motor System User Manual,
publication 2094-UM003.
Connector Pinout
1 Overtravel - and Registration 2
1 I/O 24V +
2 Overtravel -
3 I/O 24V COM
4 Registration 2
5 Shield/Chassis Ground
2 Overtravel + and Registration 1
1 I/O 24V +
2 Overtravel +
3 I/O 24V COM
4 Registration 1
5 Shield/Chassis Ground
3 Home
1 I/O 24V +
2 Reserved
3 I/O 24V COM
4 Home
5 Shield/Chassis Ground
1
4
2
3 51
2
3
4
5
1
4
2
3 5
Female Connector
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Node Address SwitchesA unique network address for each IDM unit
is set on the S1 and S10 rotary address switches. Valid IDM
addresses are 01…99. The least significant digit (0…9) is set on
switch S1, and switch S10 sets the most significant digit (10…90).
Apply 0.6 N•m (5 lb•in) of torque to the switch cover to
environmentally seal the opening.
Refer to IDM Unit Connectors and Indicators on page 6 for
connector location.
Network and Drive Status IndicatorsTwo multi-color indicators
provide IDM network (N) and drive (D) status. Refer to IDM Unit
Connectors and Indicators on page 6 for status indicator
locations.
Status Display Network (N) Drive (D)
Off No communication No power
Alternating green/red – Self test
Flashing green (1)
(1) Flashing rate is once per second. The fast flashing rate is
twice per second, and the slow flashing rate is once every two
seconds. A flash is defined as one complete on/off cycle.
Establishing communication Standby (2)
(2) Drive status is Standby while waiting for the network
communication to be established and transition to a Normal
operation state.
Fast flashing green (1) Firmware update in process –
Slow flashing green (1) Firmware update in process (on a
different IDM unit) –
Green Communication ready Normal operation
Flashing red (1) – Recoverable fault (3)
(3) A reset or cycling the power can clear a recoverable fault
(depending on the state of the IDM unit).
Red Duplicate address Non-recoverable fault (4)
(4) A non-recoverable fault requires power cycling to clear the
fault and/or a hardware configuration modification performed while
power is removed.
-
Kinetix 6000M Integrated Drive-Motor 17
Rockwell Automation Publication MDF-IN001C-EN-P - January
2015
Remove and Replace Shaft Keys and Shaft SealsIDM units are
available with or without a slot for a shaft key, but a shaft key
is recommended. The shaft seal provides environmental sealing for
the integrated drive-motor. IDM units are shipped with a PTFE
(polytetrafluoroethylene) shaft seal installed.
Remove and Replace Shaft KeysThe IDM unit must be dismounted
from a machine to remove or replace the shaft key, and this
procedure assumes that task has already been completed.
Shaft keys for IDM units are constructed of stainless steel -
300 series. The design tolerances create an interference fit
(slightly larger than the opening) that is a secure and rigid fit
for the mating connection.
Perform one of these actions to remove a shaft key:
• Lift the key by grasping it with a pliers or similar tool. •
Lever the key with a screwdriver inserted between the key and the
slot.
Follow these steps to replace a shaft key.
1. Verify the replacement key matches the keyway in the shaft
and the mating mechanical connection (for example, a coupling or
pulley) before proceeding.
2. Align the front of the key with the front of the shaft.
This prevents the radial end-of-cut at the body of the IDM unit
from interfering with the correct seating of the key.
3. Support the underside of the shaft diameter with a fixture
and use a controlled press device to apply a constant force across
the top surface, to press the key into the shaft.
ATTENTION: Damage can occur to the bearings and the feedback
device if sharp impact is applied to the shaft during the
installation of couplings and pulleys or when removing the shaft
key. Damage to the feedback device can also result by applying
leverage to the faceplate to remove devices mounted on the shaft.
Do not strike the shaft, key, couplings, or pulleys with tools
during installation or removal. Use a wheel puller to apply
pressure from the user-end of the shaft to remove any friction fit
or stuck device from the shaft.
Radial Cut atEnd of Keyway
Support for Shaft and IDM Unit
Key Alignment
-
18 Kinetix 6000M Integrated Drive-Motor
Rockwell Automation Publication MDF-IN001C-EN-P - January
2015
Remove and Replace Shaft SealsShaft seals must be lubricated by
using a food-grade polyurea base grease. Shaft seals are typically
replaced at 12-month intervals. Lubricant is supplied in the
kit.
Refer to Shaft Seal Kits on page 19 for shaft seal catalog
numbers.
Remove the Shaft Seal
The shaft seal can be safely removed by grasping an edge of the
shaft seal with a needle-nose pliers or similar tool. Lift and
slightly rotate the seal while pulling it parallel to the shaft and
away from the body of the IDM unit.
Replace the Shaft Seal
No tools are required to install the replacement shaft seal.
1. Apply the lubricant (provided with the kit) to the inner ring
of the shaft seal and the IDM wear sleeve.
2. Center the seal on the shaft with the seal oriented with the
sealing lip positioned and slanting outward, and slide the seal
along the shaft toward the mounting surface of the IDM unit.
3. Press the shaft seal into the seal recess by applying
pressure with your fingertips in a circular fashion that slowly
seats the shaft seal.
4. Verify the outer and inner circumference of the shaft seal is
fully seated into position.
ATTENTION: Damage to the shaft surface where the seal makes
contact can cause excessive wear and early failure of the shaft
seal. Use care to prevent scratching or damage to the mounting
surface or to the IDM shaft.
TIP Remove the shaft key, if the IDM unit is so equipped, before
removing or replacing the shaft seal. Refer to Remove and Replace
Shaft Keys on page 17.
IMPORTANT Do not bottom out the shaft seal. Proper seating of
the shaft seal to a specific depth is critical to prolonging the
life of your motor.
Insert the shaft seal so the outer diameter of the seal is 1.0
mm (0.04 in.) beneath the front surface of the motor.
TIP You can verify the proper shaft-seal seating by running your
fingertip around the seal-to-IDM joint to feel for irregularities
in the shaft seal or an uneven alignment where the shaft seal
contacts the IDM mounting surface.
-
Kinetix 6000M Integrated Drive-Motor 19
Rockwell Automation Publication MDF-IN001C-EN-P - January
2015
Cables and Accessory KitsFactory manufactured cables are
available in standard cable lengths. They provide the required
shielding and signal termination.
For more cable information, contact your nearest Rockwell
Automation sales office.
Shaft Seal Kits
Shaft seals require a PTFE lubricant to reduce wear. The
lubricant is provided in the kit.
Resource Description
Kinetix Motion Accessories Specifications Technical Data,
publication GMC-TD004
Provides cable catalog numbers and descriptions specifically for
Kinetix 6000M IDM systems.
Connection Systems Quick Selection Guide,publication
CNSYS-BR001
Provides catalog numbers and descriptions for the most popular
Allen-Bradley patchcord specifications.
On-Machine™ Connectivity Catalog, publication M117-CA001
Provides complete information for Allen-Bradley patchcord
specifications.
IDM Unit Cat. No. Shaft Seal Cat. No.
MDF-SB1003 MPF-SST-A3B3
MDF-SB1153 MPF-SST-A4B4
MDF-SB1304 MPF-SST-A45B45
-
20 Kinetix 6000M Integrated Drive-Motor
Rockwell Automation Publication MDF-IN001C-EN-P - January
2015
Positive Air-pressure Accessory KitA positive air-pressure kit
(catalog number MPS-AIR-PURGE) is available for field
installation.
The kit provides a quick-release female air fitting. Positive
air pressure applied to the IDM unit creates an additional level of
protection against the ingress of foreign substances and
moisture.
Positive Air-pressure Kit Guidelines
You must supply these items, to connect to the sealing plug:
• Plastic air tubing must be 4 mm (5/32 in.) OD Teflon FEP
tubing. • Air supplied to an IDM unit must not exceed 0.1 bar (1.45
psi).
Positive Air-pressure Kit Installation
1. Remove the 5 mm (0.20 in.) sealing plug with a Phillips
screwdriver.
2. Inspect the air fitting and the opening to verify the surface
area is undamaged and the contact area is clean.
3. Install the air tubing by using a 2.5 mm hex bit and torque
the air fitting to 1.1…1.2 N•m (10…12 lb•in).
4. Visually inspect the circumference of the connection for
proper seating.
ATTENTION: Air supplied to the IDM unit must be clean, dry, and
of instrument quality. Maximum air pressure is 0.1 bar (1.45 psi).
Excessive air pressure or improper filtering of air can result in
damage to the IDM unit.
IMPORTANT Be careful while rotating the hybrid connectors when a
sealing air fitting is installed. The minimal clearance between the
air fitting and the connectors can result in a pinch point.
Air Fitting
-
Kinetix 6000M Integrated Drive-Motor 21
Rockwell Automation Publication MDF-IN001C-EN-P - January
2015
Specifications
Additional specifications for interconnect cables and
accessories are available in the Kinetix Motion Control Accessories
Technical Data, publication GMC-TD004.
Attribute Value
Mounting clearance (1)
(1) Mounting clearance is the physical separation in any
direction between the IDM unit and other components that produce
heat.
100 mm (3.9 in.)
Temperature, operating 0…40 °C (32…104 °F)
Temperature, storage -30…70 °C (-2 …158 °F)
Relative humidity 5…95% noncondensing
Atmosphere Noncorrosive
Paint USDA-compliant food grade
IP rating (2) (3)
(2) The following are the IPx6 water spray test conditions. •
General conditions are three minutes of operation, at all angles
from a distance of 2.5…3.0 m (98…118 in.). • Spray conditions are
100 liters per minute (26.4 gpm) through a 12.5 mm (0.5 in.)
nozzle, with ~1 bar (14.5 psi) at the nozzle. • The spray is water,
at room temperature. Chemical or cleaning solutions are
excluded.
(3) Ingress rating of IP66 is similar to a NEMA 35 (dust tight,
drip tight).
Bulletin MDF housings are rated IP66 (dust tight, powerful water
jets) (4) with a shaft seal installed (5)
(4) The integrated drive-motors are ingress protection rated (IP
rating) as a measure of their environmental protection. The IP
rating excludes any reduction in the rating resulting from cables
or their plugs.
(5) Refer to Shaft Seal Kits on page 19 for installation
instructions.
Connector, install torque/rotation • Digital I/O - M12 • Hybrid
- M23 • Network - M12 • Sealing air fitting
0.8…1.2 N•m (7…12 lb•in) 45° rotation, self-locking 0.8…1.2 N•m
(7…12 lb•in) 1.1…1.2 N•m (10…12 lb•in)
Cover screw, sealing torque • Digital I/O (1, 2, 3) • Node
address (S1, S10)
0.6 N•m (5 lb•in) 0.6 N•m (5 lb•in)
-
22 Kinetix 6000M Integrated Drive-Motor
Rockwell Automation Publication MDF-IN001C-EN-P - January
2015
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.
Refer to your servo drive user manual for the interconnect
diagram that illustrates the wiring between your motor and
drive.
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.
-
Kinetix 6000M Integrated Drive-Motor 23
Rockwell Automation Publication MDF-IN001C-EN-P - January
2015
Additional ResourcesThese documents contain additional
information concerning related products from Rockwell
Automation.
You can view or download publications at
http://www.rockwellautomation.com/literature. To order copies of
technical documentation, contact your local Allen-Bradley
distributor or Rockwell Automation sales representative.
Resource Description
Kinetix IPIM to IDM Hybrid Cable Installation Instructions,
publication 2090-IN031
Information on the installation of components and accessories
compatible with Kinetix 6000M integrated drive-motor systems.
Kinetix 6000 Multi-axis Servo Drive User Manual, publication
2094-UM001
Kinetix 6200 and Kinetix 6500 Multi-axis Servo Drive User
Manual, publication 2094-UM002
Kinetix IPIM to IDM Hybrid Cable Installation Instructions,
publication 2090-IN031
Kinetix Hybrid Cable Installation Instructions, publication
2090-IN032
Kinetix Network Cable Installation Instructions, publication
2090-IN034
Kinetix Hybrid Terminator Installation Instructions, publication
2090-IN035
Kinetix Network Terminator Installation Instructions,
publication 2090-IN036
Kinetix Brake Override Cable Installation Instructions,
publication 2090-IN037
Kinetix 6000M Bulkhead Cable Adapter Kit Installation
Instructions, publication 2090-IN039
System Design for Control of Electrical Noise Reference Manual,
publication GMC-RM001
How to minimize and control system-level electrical noise.
-
Publication MDF-IN001C-EN-P - January 2015 PN-280136Supersedes
Publication MDF-IN001B-EN-P - August 2013 Copyright © 2015 Rockwell
Automation, Inc. All rights reserved. Printed in the U.S.A.
Rockwell Automation SupportRockwell 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 AssistanceIf 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.
New Product Satisfaction ReturnRockwell 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.
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/.
United States or Canada 1.440.646.3434
Outside United States or Canada
Use the Worldwide Locator at
http://www.rockwellautomation.com/rockwellautomation/support/overview.page,
or contact your local Rockwell Automation representative.
United StatesContact your distributor. You must provide a
Customer Support case number (call the phone number 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.
Allen-Bradley, CompactLogix, ControlLogix, Kinetix, On-Machine,
Rockwell Software, Rockwell Automation, and SoftLogix are
trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of
their respective companies.
Rockwell Otomasyon Ticaret A.Ş., Kar Plaza İş Merkezi E Blok
Kat:6 34752 İçerenköy, İstanbul, Tel: +90 (216) 5698400
Rockwell Automation maintains current product environmental
information on its website at
http://www.rockwellautomation.com/rockwellautomation/about-us/sustainability-ethics/product-environmental-compliance.page.
Kinetix 6000M Integrated Drive-Motor Installation
InstructionsImportant User InformationAbout the Kinetix 6000M
Integrated Drive-MotorCatalog Number ExplanationKinetix 6000M
Integrated Drive-Motor System Cable DiagramIDM Unit Connectors and
IndicatorsBefore You BeginRemoving the Shaft CapInstallation and
Maintenance Guidelines
Installing the Integrated Drive-Motor Aligning the IDM Unit
Cable ShieldingMount and Connect the IDM Unit
Product Dimensions Load Force RatingsConnector DataDigital Input
ConnectorsNode Address Switches
Network and Drive Status Indicators Remove and Replace Shaft
Keys and Shaft SealsRemove and Replace Shaft KeysRemove and Replace
Shaft Seals
Cables and Accessory KitsShaft Seal KitsPositive Air-pressure
Accessory Kit
SpecificationsMotor Overload ProtectionAdditional Resources
Back Cover
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/JPEG2000GrayImageDict > /AntiAliasMonoImages false
/CropMonoImages true /MonoImageMinResolution 1200
/MonoImageMinResolutionPolicy /OK /DownsampleMonoImages true
/MonoImageDownsampleType /Average /MonoImageResolution 1200
/MonoImageDepth -1 /MonoImageDownsampleThreshold 1.50000
/EncodeMonoImages true /MonoImageFilter /CCITTFaxEncode
/MonoImageDict > /AllowPSXObjects false /CheckCompliance [ /None
] /PDFX1aCheck false /PDFX3Check false /PDFXCompliantPDFOnly false
/PDFXNoTrimBoxError true /PDFXTrimBoxToMediaBoxOffset [ 0.00000
0.00000 0.00000 0.00000 ] /PDFXSetBleedBoxToMediaBox true
/PDFXBleedBoxToTrimBoxOffset [ 0.00000 0.00000 0.00000 0.00000 ]
/PDFXOutputIntentProfile (None) /PDFXOutputConditionIdentifier ()
/PDFXOutputCondition () /PDFXRegistryName () /PDFXTrapped
/False
/CreateJDFFile false /Description > /Namespace [ (Adobe)
(Common) (1.0) ] /OtherNamespaces [ > /FormElements false
/GenerateStructure true /IncludeBookmarks false /IncludeHyperlinks
false /IncludeInteractive false /IncludeLayers false
/IncludeProfiles true /MultimediaHandling /UseObjectSettings
/Namespace [ (Adobe) (CreativeSuite) (2.0) ]
/PDFXOutputIntentProfileSelector /NA /PreserveEditing true
/UntaggedCMYKHandling /LeaveUntagged /UntaggedRGBHandling
/LeaveUntagged /UseDocumentBleed false >> ]>>
setdistillerparams> setpagedevice