Allen-Bradley 2094-EN02D-M01-S0 – EtherNet/IP Multi-Axis Servo Drive Control Module | Kinetix 6500 Platform
Engineering Background
The Kinetix 6500 series represents Rockwell Automation’s flagship integrated motion-on-EtherNet/IP architecture, designed to eliminate dedicated motion networks and consolidate machine control onto a single, deterministic Ethernet backbone. The 2094-EN02D-M01-S0 is the dual-axis control module at the heart of this platform — the intelligence layer that translates CIP Motion commands from a Logix controller into precise torque, velocity, and position outputs across multiple servo axes.
Product Positioning
This module is the preferred choice for OEMs and system integrators building high-throughput packaging lines, precision assembly cells, and multi-axis coordinated motion systems where deterministic network performance and deep Studio 5000 integration are non-negotiable. Konmask.com stocks both new-surplus and factory-refurbished units, each verified against Rockwell’s published electrical and firmware specifications before dispatch.
Complete Technical Specifications
| Parameter | Value |
|---|---|
| Part Number | 2094-EN02D-M01-S0 |
| Series / Platform | Kinetix 6500 |
| Manufacturer | Allen-Bradley / Rockwell Automation |
| Module Type | Dual-Axis EtherNet/IP Servo Drive Control Module |
| Communication Protocol | EtherNet/IP (CIP Motion), IEEE 802.3 |
| Network Ports | 2 × RJ-45 (integrated DLR switch) |
| Device Level Ring (DLR) | Supported (ring topology fault recovery) |
| Controlled Axes | 2 (dual-axis) |
| Compatible Power Module | 2094-BC01-M01-S (Kinetix 6500 IAM/AM series) |
| Feedback Supported | Hiperface, EnDat 2.1/2.2, Sine/Cosine, Incremental TTL |
| Safe Torque-Off (STO) | Integrated, SIL 2 / PLd per IEC 62061 / ISO 13849-1 |
| Safe Stop Function | SS1 (Safe Stop 1) via hardwired safety input |
| Control Bus Interface | Integrated sercos-style backplane to IAM/AM power rail |
| Logix Controller Compatibility | ControlLogix, CompactLogix (Logix5000 firmware ≥ v20) |
| Programming Environment | Studio 5000 Logix Designer (Add-On Profile included) |
| Operating Temperature | 0 °C to +50 °C (32 °F to 122 °F) |
| Storage Temperature | −40 °C to +85 °C |
| Relative Humidity | 5 % to 95 % non-condensing |
| Pollution Degree | 2 |
| Enclosure Rating | IP20 (panel-mount, open-type) |
| Certifications | UL, CE (EMC Directive), RoHS compliant |
| Weight | Approx. 600 g |
| Mounting | Kinetix 6500 shared-bus rail (2094-PRF) |
Proven Application Environments
- Packaging & Labelling: High-speed pick-and-place, form-fill-seal, and rotary indexing machines requiring sub-millisecond axis synchronisation.
- Automotive Assembly: Coordinated multi-axis torque-controlled fastening and press-fit stations integrated with safety PLCs.
- Semiconductor & Electronics: Precision gantry and wafer-handling systems demanding EnDat absolute feedback and vibration-suppression tuning.
- Printing & Converting: Register-controlled web tension and cut-to-length applications on shared EtherNet/IP networks.
- Material Handling: Multi-axis conveyor routing and sortation systems with DLR ring redundancy for zero-downtime operation.
- Food & Beverage: Washdown-adjacent panel installations where STO safety functions satisfy machinery directive requirements.
Engineering Advantages
- Single-network architecture: CIP Motion over standard EtherNet/IP eliminates dedicated motion networks (SERCOS III, PROFIDRIVE), reducing wiring cost and network complexity.
- Integrated safety (SIL 2 / PLd): Hardwired STO and SS1 functions are certified on-module — no external safety relay required for basic safe-stop applications.
- Device Level Ring (DLR): Dual RJ-45 ports with integrated switch enable ring topology with <3 ms fault recovery, meeting high-availability production requirements.
- Add-On Profile (AOP): Plug-and-play commissioning in Studio 5000 with pre-built axis tags, drive parameters, and motion task templates.
- Multi-feedback compatibility: Supports Hiperface, EnDat 2.1/2.2, sine/cosine, and TTL incremental encoders — accommodating a wide range of servo motor families without external converters.
- Shared DC bus: Modules share a common DC bus rail with the IAM power module, enabling regenerative energy exchange between axes and reducing overall panel power draw.
System Architecture & Signal Flow
The 2094-EN02D-M01-S0 mounts directly onto the Kinetix 6500 shared-bus rail alongside the 2094-BC01-M01-S Integrated Axis Module (IAM). The IAM provides rectified DC bus power; the control module draws from this rail and independently regulates current to each of its two motor outputs. EtherNet/IP packets from the ControlLogix/CompactLogix controller carry CIP Motion position/velocity/torque references at the configured RPI (typically 1–4 ms). The module’s DSP closes the current loop locally at high bandwidth, returning actual position, velocity, and drive status back to the controller over the same Ethernet connection. Safety inputs (STO_A, STO_B) are hardwired directly to the module’s safety circuit, independent of the network, ensuring de-energisation of motor torque within the SIL 2 response time even during a network fault.
Sourcing & Quality Verification
- Traceability: Every unit is cross-referenced against Rockwell Automation’s published catalog data (publication 2094-UM001) and verified for correct part number suffix (-S0 = standard, no Safe Speed Monitor option).
- Functional test: Refurbished units undergo power-on self-test, firmware version verification, and EtherNet/IP enumeration check prior to dispatch.
- Packaging: Anti-static bag + foam-lined carton; humidity indicator card included for long-haul freight.
- Warranty: 12-month Konmask warranty covering manufacturing defects and premature component failure under normal operating conditions.
- Counterfeit mitigation: Units sourced exclusively from authorised distributors or directly decommissioned from verified OEM production lines — no grey-market or unverified secondary-market stock.
Procurement Process
- Confirm part number suffix: Verify -S0 (no Safe Speed Monitor) vs. -S1 (with Safe Speed Monitor) matches your safety architecture before ordering.
- Check firmware compatibility: Ensure your Logix controller firmware is ≥ v20 and the corresponding Kinetix 6500 AOP version is installed in Studio 5000.
- Request a quote: Contact support@konmask.com or call +0086 19859288691 for volume pricing, lead time, and export documentation (CO, packing list, commercial invoice).
- Order confirmation: Purchase order accepted via email; proforma invoice issued within 1 business day.
- Shipping: DHL Express / FedEx International Priority standard; sea freight available for pallet quantities. Export-controlled items shipped with EAR99 classification documentation.
Technical FAQ
Q: Can the 2094-EN02D-M01-S0 operate as a single-axis module?
A: Yes. One axis port can remain unconnected; the module operates normally on the active axis. Unused axis tags in Studio 5000 should be set to “Inhibited” to suppress nuisance faults.
Q: What is the maximum cable length between the control module and servo motor?
A: Rockwell specifies a maximum of 90 m (295 ft) for power cable and 30 m (98 ft) for feedback cable using standard Kinetix cable assemblies. Shielded cable with proper grounding at the drive end is mandatory.
Q: Is the -S0 suffix compatible with GuardLogix safety controllers?
A: The -S0 module provides hardwired STO/SS1 only. For integrated CIP Safety motion (Safe Speed Monitor, Safe Direction) a -S1 suffix module is required. The -S0 can coexist on a GuardLogix network for standard motion; safety functions must be implemented via hardwired I/O.
Q: What happens if the EtherNet/IP connection is lost during motion?
A: The module enters a configurable connection-loss action (typically “Fault & Disable” or “Stop Motion”) as defined in the axis properties within Studio 5000. The STO circuit remains independent of network state.
Q: Can I mix 2094-EN02D-M01-S0 and single-axis modules on the same bus rail?
A: Yes. Kinetix 6500 supports mixed single-axis (2094-EN02D-M01) and dual-axis (2094-EN02D-M01-S0) control modules on the same 2094-PRF shared-bus rail, subject to total DC bus current capacity of the IAM.
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