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Safety Reference Manual
Kinetix 6200 and Kinetix 6500
Safe Torque-off Multi-axis Servo Drives
Catalog Numbers 2094-SE02F-M00-S0, 2094-EN02D-M01-S0
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.
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.
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.
IMPORTANT
Identifies information that is critical for successful application and understanding of the product.
Allen-Bradley, Kinetix, RSLogix, TechConnect, Rockwell Automation, and Rockwell Software are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
New and Updated
Information
This manual contains new and updated information.
Summary of Changes
This revision includes new material for the 2090-K6CK-D44S0 low-profile connector kit and 2090-CS0DSDS-AA xx interface cable for cascading the safe torque-off signals from drive-to-drive.
Section
Topic
Added a description and connection diagram for the 2090-K6CK-D44S0 connector kit.
Updated Safety Input Wiring diagram to use 24VPWR (IOD-14, IOD-15)
Updated Cascaded Connections diagram to use 24VPWR (IOD-14, IOD-15)
Updated 2090-K6CK-D44M wiring examples to use 24VPWR (IOD-14, IOD-15)
Added 2090-K6CK-D44S0 wiring examples
Added Kinetix 6200/6500 cascading safe torque-off cable example
Added 2090-CS0DSDS-AA
xx cable pinout diagram and termination table
Updated General Specifications with value for reset time
Added footnotes to clarify the effect cascading drives has on reaction time and reset time
Page
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
3
Summary of Changes
Notes:
4
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
Safety Concept
Installation and Wiring
Safe Torque-off I/O Signals
Table of Contents
Preface
Chapter 1
Important Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Safety Category 4 Performance Definition. . . . . . . . . . . . . . . . . . . . . . 10
Stop Category 0 Definition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Performance Level and Safety Integrity Level (SIL) CL3 . . . . . . . . . 11
Contact Information If Failure Occurs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Automatic Drive Replacement (ADR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Chapter 2
Using the 2090-K6CK-D44M Low-profile Connector Kit . . . . . . 14
Using the 2090-K6CK-D44S0 Low-profile Connector Kit . . . . . . 16
Using the Motion-allowed Plug. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Chapter 3
Safe Stop Output (SS_Out) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
5
Table of Contents
Multi-axis Cascaded Systems
Chapter 4
2090-K6CK-D44M Connector Kit Examples. . . . . . . . . . . . . . . . . . . 28
2090-K6CK-D44S0 Connector Kit Examples . . . . . . . . . . . . . . . . . . 29
Troubleshooting the Safe Torque-off
Drive
Chapter 5
Specifications
Appendix A
Index
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Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
Preface
About This Publication
This manual explains how the Kinetix® 6200 and Kinetix 6500 drives can be used in Safety Integrity Level (SIL) CL3, Performance Level [PLe], or Category
(CAT) 4 applications. It describes the safety requirements, including PFD and
PFH values and application verification information, and provides information on configuring and troubleshooting the Kinetix 6200 and Kinetix 6500 drives with safe torque-off functionality.
Who Should Use This Manual
Use this manual if you are responsible for designing, configuring, or troubleshooting safety applications that use Kinetix 6200 or Kinetix 6500 drives with safe torque-off functionality.
You must have a basic understanding of electrical circuitry and familiarity with
Kinetix 6200 and Kinetix 6500 drives. You must also be trained and experienced in the creation, operation, and maintenance of safety systems.
FMEA
IEC
IGBT
HFT
MP
OSSD
PC
PFD
PFH
PL
S0
Terminology
Table 1 - Common Safety Terminology
Abbreviation
1oo2
CAT
EN
ESPE
Full Term
One out of Two
Category
European Norm
The following table defines common safety terms used in this manual.
Electro-sensitive Protective Equipment
Failure Mode and Effects Analysis
International Electrotechnical Commission
Insulated Gate Bi-polar Transistors
Hardware Fault Tolerance
Motion Power
Output Signal-switching Device
Personal Computer
Probability of Failure on Demand
Probability of Failure per Hour
Performance Level
2094-SE02F-M00-S0
2094-EN02D-M01-S0
Definition
Refers to the behavioral design of a dual-channel safety system.
–
The official European Standard.
An assembly of devices and/or components working together for protective tripping or presencesensing purposes and comprising as a minimum:
·a sensing device.
·controlling/monitoring devices.
·output signal-switching devices (OSSD).
Analysis of potential failure modes to determine the effect upon the system and identify ways to mitigate those effects.
–
Typical power switch used to control main current.
The HFT equals
n, where n+1 faults could cause the loss of the safety function. An HFT of 1 means that 2 faults are required before safety is lost.
–
The component of the electro-sensitive protective equipment (ESPE) connected to the control system of a machine, which, when the sensing device is actuated during normal operation, responds by going to the OFF-state.
Computer used to interface with and program your safety system.
The average probability of a system to fail to perform its design function on demand.
The probability of a system to have a dangerous failure occur per hour.
ISO 13849-1 safety rating.
Catalog number for Kinetix 6200 drives with Safe Torque-off functionality.
Catalog number for Kinetix 6500 drives with Safe Torque-off functionality.
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
7
Preface
Table 1 - Common Safety Terminology (continued)
Abbreviation
SFF
SIL
SS
Full Term
Safe Failure Fraction
Safety Integrity Level
Safe Stop
Definition
The sum of safe failures plus the sum of dangerous detected failures divided by the sum of all failures.
A measure of a products ability to lower the risk that a dangerous failure could occur.
–
Additional Resources
These documents contain additional information concerning related products from Rockwell Automation.
Resource
Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drive
User Manual, publication 2094-UM002
Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring
Safety Reference Manual, publication 2094-RM001
Kinetix Safe-off Feature
Safety Reference Manual, publication GMC-RM002
System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001
EMC Noise Management DVD, publication GMC-SP004
Kinetix Motion Control Selection Guide, publication GMC-SG001
Safety Guidelines for the Application, Installation and Maintenance of Solid State
Control, publication SGI-1.1
Description
Information on installing, configuring, startup, troubleshooting, and applications for your
Kinetix 6200 and Kinetix 6500 servo drive system.
Information on wiring, troubleshooting, and configuring your Kinetix 6200 and Kinetix 6500 servo drives with the safe speed-monitoring functionality.
Information on wiring and troubleshooting your Kinetix 6000 servo drives with the safe-off feature.
Information, examples, and techniques designed to minimize system failures caused by electrical noise.
Specifications, motor/servo-drive system combinations, and accessories for Kinetix motion control products.
Describes important differences between solid state control and hardwired electromechanical devices.
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.
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Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
Introduction
Safety Certification
Chapter
1
Safety Concept
This chapter describes the safety performance level concept and how the
Kinetix 6200 and Kinetix 6500 drives can meet the requirements for SIL CL3,
CAT 4, or PLe applications.
Topic
Contact Information If Failure Occurs
Automatic Drive Replacement (ADR)
Page
The Kinetix 6200 and Kinetix 6500 drives are certified for use in safety applications up to and including SIL CL3 according to EN 61800-5-2,
EN 61508, and EN 62061, Performance Level PLe and CAT 4 according to
ISO 13849-1. Safety requirements are based on the standards current at the time of certification.
The TÜV Rheinland group has approved the Kinetix 6200 and Kinetix 6500 drives for use in safety-related applications where the de-energized state is considered to be the safe state. All of the examples related to I/O included in this manual are based on achieving de-energization as the safe state for typical
Machine Safety and Emergency Shutdown (ESD) systems.
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
9
Chapter 1
Safety Concept
10
Important Safety Considerations
You are responsible for the following:
• The set-up, safety rating, and validation of any sensors or actuators connected to the system
• Completing a system-level risk assessment and reassessing the system any time a change is made
• Certification of the system to the desired safety performance level
• Project management and proof testing
• Access control to the system, including password handling
IMPORTANT When applying functional safety, restrict access to qualified, authorized personnel who are trained and experienced.
ATTENTION: When designing your system, consider how personnel will exit the machine if the door locks while they are in the machine. Additional safeguarding devices may be required for your specific application.
Safety Category 4 Performance Definition
The safety-related parts have to be designed with the following considerations to achieve Safety Category 4 according to ISO 13849-1:2006:
• The safety-related parts of machine control systems and/or their protective equipment, as well as their components, must be designed, constructed, selected, assembled, and combined in accordance with relevant standards so that they can withstand expected conditions.
• Basic safety principles must be applied.
• A single fault in any of its parts does not lead to a loss of safety function.
• A single fault is detected at or before the next demand of the safety function, or, if this detection is not possible, then an accumulation of faults must not lead to a loss of the safety function.
• The average diagnostic coverage of the safety-related parts of the control system must be high, including the accumulation of faults.
• The mean time to dangerous failure of each of the redundant channels must be high.
• Measures against common cause failure must be applied.
Stop Category 0 Definition
Stop Category 0 is achieved with immediate removal of power to the actuator, resulting in an uncontrolled coast to stop. Safe Torque Off accomplishes a Stop
Category 0 stop.
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
PFD and PFH Definitions
PFD and PFH Data
Safety Concept
Chapter 1
Performance Level and Safety Integrity Level (SIL) CL3
For safety-related control systems, Performance Level (PL), according to ISO
13849-1, and SIL levels, according to EN 61508 and EN 62061, include a rating of the system’s ability to perform its safety functions. All of the safety-related components of the control system must be included in both a risk assessment and the determination of the achieved levels.
Refer to the ISO 13849-1, EN 61508, and EN 62061 standards for complete information on requirements for PL and SIL determination.
Safety-related systems can be classified as operating in either a Low Demand mode, or in a High Demand/Continuous mode:
• Low Demand mode: where the frequency of demands for operation made on a safety-related system is no greater than one per year or no greater than twice the proof-test frequency.
• High Demand/Continuous mode: where the frequency of demands for operation made on a safety-related system is greater than once per year or greater than twice the proof test interval.
The SIL value for a low demand safety-related system is directly related to orderof-magnitude ranges of its average probability of failure to satisfactorily perform its safety function on demand or, simply, average probability of failure on demand
(PFD). The SIL value for a High Demand/Continuous mode safety-related system is directly related to the probability of a dangerous failure occurring per hour (PFH).
These PFD and PFH calculations are based on the equations from Part 6 of
EN 61508 and show worst-case values.
This table provides data for a 20-year proof test interval and demonstrates the worst-case effect of various configuration changes on the data.
Table 2 - PFD and PFH for 20-year Proof Test Interval
Attribute
PFH [1e-9]
PFD [1e-4]
SFF %
Value
4.09
3.90
99.5
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
11
Chapter 1
Safety Concept
Safe State
Safety Reaction Time
Contact Information If
Failure Occurs
Automatic Drive
Replacement (ADR)
The Safe State encompasses all operation that occurs outside of the other monitoring and stopping behavior defined as part of the drive. While the drive is in the Safe State, all safety control outputs are in their safe state (de-energized).
When you cycle power, the drive enters the Safe State for self-testing. If the selftests pass, the drive remains in the Safe State until a successful safe stop reset occurs.
If a Safe State fault is detected, the drive goes to the Safe State. This includes faults related to integrity of hardware or firmware.
For more information on faults, refer to Chapter 5
.
The safety reaction time is the amount of time from a safety-related event as input to the system until the system is in the Safe State.
The safety reaction time from an input signal condition that triggers a safe stop, to the initiation of the Safe Stop Type, is 12 ms, max.
IMPORTANT For cascaded systems, the reaction time is multiplied by the number of drives in the drive system. For example, drive systems with three cascaded drives
(first, middle, and last), have a reaction time of 36 ms, max.
If you experience a failure with any safety-certified device, contact your local
Rockwell Automation distributor. With this contact, you can do the following:
• Return the device to Rockwell Automation so the failure is appropriately logged for the catalog number affected and a record is made of the failure.
• Request a failure analysis (if necessary) to determine the probable cause of the failure.
You can replace IAM and AM power modules, and the associated control modules, at any time without any need for configuration or program changes.
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Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
Chapter
2
Installation and Wiring
Introduction
This chapter provides details on connecting devices and wiring the
2090-K6CK-D44M and 2090-K6CK-D44S0 low-profile connector kits.
Topic Page
ATTENTION: The drive is intended to be part of the safety-related control system of a machine. Before installation, a risk assessment should be performed to determine whether the specifications of this safety option are suitable for all foreseeable operational and environmental characteristics for the system to which it is to be installed.
General Safety Information
Observe all electrical safety regulations stipulated by the appropriate technical authorities.
ATTENTION: Make sure that the electrical power supplied to the drive is switched off before making connections.
Refer to the Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drive
User Manual, publication 2094-UM002 , for more information.
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
13
Chapter 2
Installation and Wiring
Power Supply Requirements
The external power supply must conform to the Directive 2006/95/EC Low
Voltage, by applying the requirements of EN61131-2 Programmable Controllers,
Part 2 - Equipment Requirements and Tests and one of the following:
• EN60950 - SELV (safety extra low voltage)
• EN60204 - PELV (protective extra low voltage)
• IEC 60536 Safety Class III (SELV or PELV)
• UL 508 Limited Voltage Circuit
• 21.6…28.8V DC must be supplied by a power supply that complies with
IEC/EN60204 and IEC/EN 61558-1
For planning information, refer to the guidelines in Industrial Automation
Wiring and Grounding Guidelines, publication 1770-4.1
.
Wiring the Safety
Connections
Safety, I/O, and auxiliary feedback connections are made by using the
2090-K6CK-D44M low-profile connector kit. I/O and cascading drive-to-drive safe torque-off connections can be made by using the 2090-K6CK-D44S0 low-profile connector kit. When the safety, I/O, and auxiliary feedback are not required for the application, the motion-allowed plug is used to make the drive operational.
IMPORTANT Remove power to the IAM or AM power module before installing either the low-profile connector kit or the motion-allowed plug.
Using the 2090-K6CK-D44M Low-profile Connector Kit
The 2090-K6CK-D44M connector kit includes one motion-allowed jumper.
Remove the jumper to wire the safe torque-off connections. Install the jumper when your application is not using the safe torque-off functionality, but your application requires I/O or auxiliary feedback connections.
IMPORTANT You must remove the motion-allowed jumper to wire the safe torque-off connections.
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Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
2090-K6CK-D44M
Low-profile Connector Kit
Installation and Wiring
Chapter 2
Figure 1 - Making 2090-K6CK-D44M Safety Connections
Motion-allowed Jumper Installation
(applies to 2094-
xx02x-M0x-S0 control modules)
Kit pin numbering corresponds to the IOD connector. Pins 27, 28, 39, and 40 are given multiple terminals to accommodate additional connections.
Turn clamps over for smaller diameter cables.
Refer to
feedback, and I/O signal descriptions.
Use tie wraps (4x) for stress relief.
Use shield clamps (3x) for high-frequency bonding.
Shrink-wrapped
Insulation
Aux Feedback and I/O
Wires and Cables
Clamp
Safety Wires and Cables
Refer to the Kinetix 6200 and Kinetix 6500 Modular Servo Drive User Manual, publication 2094-UM002 , for other wiring examples using low-profile connector kits.
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
15
Chapter 2
Installation and Wiring
Using the 2090-K6CK-D44S0 Low-profile Connector Kit
The 2090-K6CK-D44S0 connector kit includes two motion-allowed jumpers.
Remove the jumpers to wire the safe torque-off connections. Install the jumper when your application is not using the safe torque-off functionality, but your application requires I/O connections.
The 2090-K6CK-D44S0 connector kit lets you cascade the safe torque-off signals from drive-to-drive by using the 2090-CS0DSDS-AA xx interface cable.
IMPORTANT You must remove the motion-allowed jumpers to wire the safe torque-off connections.
Figure 2 - Making 2090-K6CK-D44S0 Safety Connections
2090-K6CK-D44S0
Low-profile Connector Kit
P2
41
40
0
40
42
39
39
P1
P4
P3
40
44
39
39
43
40
23
24
21
22
27
28
19
20
P5
P6
0
0
18
15
14
25
17
26
Turn clamps over for smaller diameter cables.
14
25
17
26
0
0
18
15
Motion-allowed Jumper Installation
(applies to 2094-
xx02x-M0x-S0 control modules)
Use tie wraps (2) for stress relief.
Use shield clamps (2) to maximize contact with cable shield for high-frequency bonding.
Refer to page 18 for safety and
I/O signal descriptions.
Pin numbering corresponds to the IOD (44 pin) connector. IOD-39 = P1-39 and P2-39.
Pins 39 and 40 are given multiple terminals to accommodate connections for each of the inputs.
40
42
39
39
41
40
0
P2
P4
P1
P3
S0
IN
40
44
39
39
43
40
S0
OUT
23
24
21
22
27
28
19
20
P5
P6
0
0
18
15
14
25
17
26
Shrink-wrapped Insulation
I/O
Cable/Wires
Cascading S0
Safe-off Cables
Safety
Cable/Wires
Refer to the Kinetix 6200 and Kinetix 6500 Modular Servo Drive User Manual, publication 2094-UM002 , for other wiring examples using low-profile connector kits.
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Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
Installation and Wiring
Chapter 2
Using the Motion-allowed Plug
Because the safe torque-off feature of Kinetix 6200 and Kinetix 6500 control modules (catalog numbers 2094xx02x-M0x-S0) is not configured, the safe torque-off functionality is always operational. If you do not want to use the safe torque-off feature, wiring of the safe stop inputs (SS_IN_CH0/1) are still required to operate the drive.
For this reason, the 2094xx02x-M0x-S0 control modules ship with the motion-allowed plug. The plug inserts into the IOD connector and provides connections designed to defeat the safe torque-off function.
Figure 3 - Motion-allowed Plug Wiring
20
19
18
17
15
14
24
23
22
21
28
27
26
25
IOD Connector
TEST_OUT_1
TEST_OUT_0
RESET_IN
RESET_REF
SLS_IN_CH3
SLS_IN_CH2
SS_OUT_CH1
SS_OUT_CH0
SS_IN_CH1
SS_IN_CH0
SCOM
SPWR
24VCOM
24VPWR
24
23
22
21
28
27
26
25
20
19
18
17
15
14
Kinetix 6200 and Kinetix 6500
Safe Torque-off Control Module
IOD (44-pin) Connector
TIP If your application does not require any I/O, safety, or auxiliary feedback connections, use the motion-allowed plug supplied with your drive to defeat the safe torque-off functionality.
Figure 4 - Motion-allowed Plug Installation
Kinetix 6200 or Kinetix 6500 Drive
(safe torque-off control module)
I/O, safety, and auxiliary feedback
(IOD) 44-pin connector with motion-allowed plug installed.
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
17
Chapter 2
Installation and Wiring
Terminal Connections
Prepare wires for termination on the IOD connector with a 5 mm (0.2 in.) strip length. Tighten all terminal screws firmly and recheck them after all connections have been made. Recommended terminal screw torque is 0.4 N•m (3.5 lb•in).
21
22
19
20
17
18
15
16
13
14
11
12
9
10
7
8
IOD
Pin
0
1
2
3
4
5
6
Description
Chassis ground
Sine differential input +
A differential input +
Sine differential input -
A differential input -
Cosine differential input +
B differential input +
Cosine differential input -
B differential input -
Data differential input +
Index differential input +
Data differential input -
Index differential input -
Clock output +
Clock output -
Encoder 5V power output
Encoder common
Encoder 9V power output
Reserved
Reserved
24V power out
24V common
Reserved
Safety 24V power input
Safety 24V common
Safe stop input 0
Safe stop input 1
Safe stop output 0
Safe stop output 1
Refer to
page 37 for the I/O signal electrical specifications.
Table 3 - IOD Connector Pinouts
Signal
EPWR_5V
ECOM
EPWR_9V
–
–
24VPWR
(1)
–
SPWR
SCOM
SS_IN_CH0
SS_IN_CH1
SS_OUT_CH0
SS_OUT_CH1
Shield
AUX_SIN+
AUX_A+
AUX_SIN-
AUX_A-
AUX_COS+
AUX_B+
AUX_COS-
AUX_B-
AUX_DATA+
AUX_I+
AUX_DATA-
AUX_I-
AUX_CLK+
AUX_CLK-
IOD
Pin
23
24
25
27
28
Description
Safe stop input 2
Safe stop input 3
Reset reference
Pulse test output 0
Pulse test output 1
43
44
41
42
39
40
37
38
29
30
31
32
Reserved
Reserved
Reserved
Reserved
33 Reserved
34 Reserved
35 Reserved
36 Reserved
Reserved
Reserved
24V power out
24V common
Digital input 1
Digital input 2
Digital input 3
Digital input 4
for an example.
(2) Use signals 24VPWR and 24VCOM (IOD-39 and IOD-40) as a 24V DC source to operate the digital inputs (50 mA maximum per input).
Signal
SS_IN_CH2
SS_IN_CH3
RESET_REF
RESET_IN
TEST_OUT_0
TEST_OUT_1
–
–
–
–
–
–
–
–
–
–
24VPWR
(2)
24VCOM
INPUT1
INPUT2
INPUT3
INPUT4
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Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
Introduction
Inputs
Chapter
3
Safe Torque-off I/O Signals
This chapter describes the safe torque-off input and output signals of the
Kinetix 6200 and Kinetix 6500 drives.
Topic Page
The Kinetix 6200 and Kinetix 6500 drives have two sets of dual-channel inputs.
Each dual-channel input supports the safe stop (SS) function of the drive.
The SS_IN_CH0/1 inputs are intended for connection to a non-switching
E-stop device (dry contact). It controls the safe-off request initiated by a transition from ON to OFF.
The SS_IN_CH2/3 inputs are intended for connection to an OSSD device or as a cascaded input from another safety axis. It controls the safe-off request initiated by a transition from ON to OFF.
The SS_IN_CH0/1 inputs are electrically identical and rely on a pair of pulse test outputs, TEST_OUT_0 and TEST_OUT_1.
IMPORTANT
Only one pair of dual-channel inputs can be used at the same time.
When both channels are active, if one channel’s input terminal transitions from active to inactive and back to active, while the other channel’s input terminal remains active, both channels must go inactive at the same time before the evaluated status may return to ON. This condition is called ‘cycle inputs required’.
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Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
Chapter 3
Safe Torque-off I/O Signals
SS_IN_CH0 or
SS_IN_CH2
SS_IN_CH1 or
SS_IN_CH3
Gate Power and Gate Enable
RESET_IN
Fault
Figure 5 - Cycle Inputs Required
Cycle Inputs Required
Channel 0
Channel 1
Active
Inactive
Active
Inactive
Evaluated Status
ON
OFF
An Input fault occurs if the inputs are discrepant for longer than one second.
For SS_IN_CH0/1, use TEST_OUT_0/1 as a reference signal, or a fault occurs.
For more information on I/O faults, refer to
Troubleshooting the Safe Torque-off
Discrepancy Time
The maximum discrepancy time between two inputs is 1.0 second. If both inputs do not change within 1.0 second, an input fault is displayed, the safety circuit is activated, and torque is removed from the motor.
Figure 6 - Discrepancy Time
Input Discrepancy
Time (1.0 s) t on
Safe-off inputs return to inactive state before Gate
Power can be restored.
T on
(max) = 20 ms plus Debounce Filter Delay
(if applicable).
Latch Input Error
Time (1.0 s)
Behavior of reset and safe-off inputs while transitioning from Safe_Off state to
Safe_Monitor state.
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Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
Safe Torque-off I/O Signals
Chapter 3
SS_IN_CH0 or
SS_IN_CH2
SS_IN_CH1 or
SS_IN_CH3
RESET_IN
Fault
Gate Power and Gate Enable
RESET_REQUIRED
(waiting for reset)
SO_REQUEST_VALUE
SO_IN_VALUE
Figure 7 - Reset Behavior
20 ms, max
IMPORTANT When the inactive ‘OFF’ state of RESET_IN transitions to the active ‘ON’ state, following a successful reset, the time to re-enable gate power and gate enable, and set dual-channel safe-off outputs to active ‘ON’ state will not exceed 20 ms.
IMPORTANT If SS_IN_CH0/1 are used, then additional debounce filter delay of 36 ms is applied to Ton delay.
IMPORTANT After a successful SO Reset, the RSLogix™ 5000 software program must issue an MSF instruction prior to restarting the machine.
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
21
Chapter 3
Safe Torque-off I/O Signals
Dual-channel
Equivalent
Safety Device
Figure 8 - Safety Input Wiring Examples
Drive
Test_Out_0 (IOD-27)
Test_Out_1 (IOD-28)
Drive
Test_Out_0 (IOD-27)
Test_Out_1 (IOD-28)
SS_IN_CH0 (IOD-19)
SS_IN_CH1 (IOD-20)
SS_IN_CH0 (IOD-19)
SS_IN_CH1 (IOD-20)
24VPWR (IOD-14)
24VCOM (IOD-15)
SPWR (IOD-17)
SS_IN_CH2 (IOD-23)
SS_IN_CH3 (IOD-24)
SCOM (IOD-18)
24V DC
Light Curtain or
Safety Mat
OSSD1
OSSD2
24VPWR (IOD-14)
24VCOM (IOD-15)
SPWR (IOD-17)
SS_IN_CH2 (IOD-23)
SS_IN_CH3 (IOD-24)
SCOM (IOD-18)
IMPORTANT Cross wiring of Test Outputs to Inputs is not allowed. For example, do not connect TEST_OUT_0 to Input 1 or TEST_OUT_1 to Input 0.
Table 4 - IOD Connector Input Terminals
Safe Stop Function
Input 0 = Channel 0
Input 1 = Channel 1
Input 2 = Channel 2
Input 3 = Channel 3
Signal
SS_IN_CH0
SS_IN_CH1
SS_IN_CH2
SS_IN_CH2
IOD Pin
IOD-19
IOD-20
IOD-23
IOD-24
Short-circuits of the input loop to ground or 24V will be detected. For dual-channel inputs, cross loops will also be detected.
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Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
Outputs
Safe Torque-off I/O Signals
Chapter 3
Reset Input (Reset_In)
The Reset input is for reset and monitoring of the safety circuit. RESET_REF provides reference voltage for the RESET_IN input.
For automatic reset option, wire the reset input terminal (IOD-26) to the
RESET_REF terminal, (IOD-25).
Figure 9 - RESET_IN Terminal Example
IOD-25
RESET_IN
IOD-26
RESET_IN
The drive has safe-stop safety control outputs.
See the specifications in
Appendix A to verify your power requirements.
Safe Stop Output (SS_Out)
The safe state for this signal is OFF.
These outputs are typically used in multi-axis applications. In multi-axis applications, you can use these outputs to daisy-chain the master drive to a slave.
For SS_Out to SS_In_CH2/3 cascaded signals, the interface is a dual-channel sourcing solid-state safety output connected to a dual-channel safety input. The outputs are pulse-tested.
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
23
Chapter 3
Safe Torque-off I/O Signals
Figure 10 - SS_Out to SS_In Connections for Multi-axis Applications
Drive 1
SS_OUT_CH0 SS_OUT_CH1
IOD-21 IOD-22
IOD-23
SS_IN_CH2
Drive 2
IOD-24
SS_IN_CH3
For more information on multi-axis configurations, see
starting on
Alternately, the first SS_Out output may be used to signal a programmable logic controller (PLC) that a Safe Stop has been requested.
If the SS_In is ON (closed) and a successful Safe Stop Reset is performed, the
SS_Out output is turned ON.
If the Safe Stop is initiated or if a Safe Stop is initiated due to a fault, the SS_Out output is turned OFF.
If an error is detected on either channel of the dual-channel output, a fault occurs, which initiates the Category 0 Stop. The fault is latched until the drive is successfully reset.
For more information on faults, refer to Chapter 5
.
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Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
Safe Torque-off I/O Signals
Chapter 3
Safe Stop Reset
Safe torque-off drives provide a Reset Input (RESET_IN) for resetting the drive after a fault, and for synchronizing restart of several cascading drives. The Reset
Input (RESET_IN) is not safety certified and does not have dual-channel capability. Automatic reset functionality, if needed, can be achieved by hardwiring the RESET_REF and RESET_IN terminals together.
The Safe-off Reset (SO Reset) is a reset from the Safe-off State to the active safe monitor state. The reset is successful if the SS_In input is ON and no faults are present. The SO Reset occurs after the SS_IN inputs have transitioned to ON and RESET_IN is ON. After a successful SO Reset, RESET_IN may transition to the OFF state.
ATTENTION: A reset of the Safe Stop function can result in machine operation.
ATTENTION: The Safe Stop Reset does not provide safety-related restart according to EN 60204-1. Restart must be performed by external measures if automatic restart could result in a hazardous situation. You are responsible for determining whether automatic restart could pose a hazard.
When an SO Reset is requested, all diagnostic tests that can be performed prior to outputs being energized are performed prior to a successful SO Reset. If a diagnostic test can be performed only when outputs are energized, the test is performed immediately following the SO Reset.
Faults
If a fault occurs, the SS_In inputs in use must turn OFF and ON again to reset the GuardResetRequiredStatus bit before a successful SO Reset can occur.
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
25
Chapter 3
Safe Torque-off I/O Signals
Safe Stop Wiring Example
This example illustrates safe stop wiring.
Figure 11 - Master, Safe Stop (First or Single Unit)
SS
Request
28
27
26
25
24
23
22
21
20
19
18
17
IOD Connector
TEST_OUT_1
TEST_OUT_0
RESET_IN
RESET_REF
SLS_IN_CH3
SLS_IN_CH2
SS_OUT_CH1
SS_OUT_CH0
SS_IN_CH1
SS_IN_CH0
SCOM
(1)
SPWR
22
21
20
19
18
17
28
27
26
25
24
23
Kinetix 6200 and Kinetix 6500
Safe Torque-off Control Module
IOD (44-pin) Connector
Reset
Safe Stop to Next Axis
(optional)
GND
+24V DC
(1) SCOM must be at the same potential as the drive common because of the encoder signal.
26
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
Chapter
4
Multi-axis Cascaded Systems
Introduction
This chapter describes cascaded multi-axis drive operation and provides wiring examples for cascaded multi-axis drive systems.
Topic
Page
Cascaded Configurations
For cascaded drives, connect the safety switches to the safety inputs (SS_In) of only the first axis. The inputs are cascaded from one drive to the next by connecting the outputs from the previous drive to the inputs of the next drive.
Figure 12 - Cascaded Connections
First Unit
Axis 1
Test_Out_0 (IOD-27)
Test_Out_1 (IOD-28)
Middle Unit
Test_Out_0
Test_Out_1
Axis 2
Test_Out_0
Test_Out_1
Last Unit
Axis 3
Dual-channel
Equivalent
Safety Device
Reset
SS_IN_CH1 (IOD-20)
SS_IN_CH0 (IOD-19)
RESET_REF (IOD-25)
RESET_IN (IOD-26)
SS_IN_CH1
SS_IN_CH0
RESET_REF
RESET_IN
SS_IN_CH1
SS_IN_CH0
RESET_REF
RESET_IN
24VPWR (IOD-14)
24VCOM (IOD-15)
SPWR (IOD-17)
SS_IN_CH2 (IOD-23)
SS_IN_CH3 (IOD-24)
(IOD-21) SS_OUT_CH0
(IOD-22) SS_IN_CH1
SCOM (IOD-18)
24VPWR
24VCOM
SPWR
SS_IN_CH2
SS_IN_CH3
SCOM
SS_OUT_CH0
SS_IN_CH1
24VPWR
24VCOM
SPWR
SS_IN_CH2
SS_IN_CH3
SCOM
SS_OUT_CH0
SS_IN_CH1
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012 27
Chapter 4 Multi-axis Cascaded Systems
Safe Stop Wiring Examples
Cascaded configurations can be wired with either the 2090-K6CK-D44M or
2090-K6CK-D44S0 low-profile connector kits. The 2090-K6CK-D44S0 connector is designed specifically for cascading the safe torque-off signals from drive-to-drive.
The examples shown are safe-stop configurations that use a dry-contact safety device.
24V DC
Light Curtain or
Safety Mat
OSSD1
OSSD2
2090-K6CK-D44M Connector Kit Examples
Figure 13 - Cascading Safe Stop Non-OSSD Device Wiring Example
Reset
SS
Request
20
19
18
17
15
14
24
23
22
21
28
27
26
25
IOD Connector
TEST_OUT_1
TEST_OUT_0
RESET_IN
RESET_REF
SS_IN_CH3
SS_IN_CH2
SS_OUT_CH1
SS_OUT_CH0
SS_IN_CH1
SS_IN_CH0
SCOM
SPWR
24VCOM
24VPWR
17
15
14
21
20
19
18
24
23
22
28
27
26
25
20
19
18
17
24
23
22
21
15
14
28
27
26
25
IOD Connector
TEST_OUT_1
TEST_OUT_0
RESET_IN
RESET_REF
SS_IN_CH3
SS_IN_CH2
SS_OUT_CH1
SS_OUT_CH0
SS_IN_CH1
SS_IN_CH0
SCOM
SPWR
24VCOM
24VPWR
20
19
18
17
15
14
24
23
22
21
28
27
26
25
Reset
Figure 14 - Cascading Safe Stop OSSD Device Wiring Example
20
19
18
17
15
14
24
23
22
21
28
27
26
25
IOD Connector
TEST_OUT_1
TEST_OUT_0
RESET_IN
RESET_REF
SS_IN_CH3
SS_IN_CH2
SS_OUT_CH1
SS_OUT_CH0
SS_IN_CH1
SS_IN_CH0
SCOM
SPWR
24VCOM
24VPWR
24
23
22
21
20
28
27
26
25
19
18
17
15
14
18
17
15
14
22
21
20
19
28
27
26
25
24
23
IOD Connector
TEST_OUT_1
TEST_OUT_0
RESET_IN
RESET_REF
SS_IN_CH3
SS_IN_CH2
SS_OUT_CH1
SS_OUT_CH0
SS_IN_CH1
SS_IN_CH0
SCOM
SPWR
24VCOM
24VPWR
20
19
18
17
15
14
24
23
22
21
28
27
26
25
20
19
18
17
24
23
22
21
15
14
28
27
26
25
IOD Connector
TEST_OUT_1
TEST_OUT_0
RESET_IN
RESET_REF
SS_IN_CH3
SS_IN_CH2
SS_OUT_CH1
SS_OUT_CH0
SS_IN_CH1
SS_IN_CH0
SCOM
SPWR
24VCOM
24VPWR
20
19
18
17
15
14
24
23
22
21
28
27
26
25
18
17
15
14
22
21
20
19
28
27
26
25
24
23
IOD Connector
TEST_OUT_1
TEST_OUT_0
RESET_IN
RESET_REF
SS_IN_CH3
SS_IN_CH2
SS_OUT_CH1
SS_OUT_CH0
SS_IN_CH1
SS_IN_CH0
SCOM
SPWR
24VCOM
24VPWR
20
19
18
17
15
14
24
23
22
21
28
27
26
25
28 Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
Multi-axis Cascaded Systems Chapter 4
2090-K6CK-D44S0 Connector Kit Examples
The 2090-K6CK-D44S0 connector kit and 2090-CS0DSDS-AA xx safe-off cable are designed specifically for cascading the safe torque-off signals from drive-to-drive.
SS
Request
22
21
20
19
28
27
24
23
IOD Connector (P5)
TEST_OUT_1
TEST_OUT_0
SS_IN_CH3
SS_IN_CH2
SS_OUT_CH1
SS_OUT_CH0
SS_IN_CH1
SS_IN_CH0
22
21
20
19
28
27
24
23
Figure 15 - Cascading Safe Stop Non-OSSD Device Wiring Example
22
21
20
19
28
27
24
23
IOD Connector (P5)
TEST_OUT_1
TEST_OUT_0
SS_IN_CH3
SS_IN_CH2
SS_OUT_CH1
SS_OUT_CH0
SS_IN_CH1
SS_IN_CH0
22
21
20
19
28
27
24
23
22
21
20
19
28
27
24
23
IOD Connector (P5)
TEST_OUT_1
TEST_OUT_0
SS_IN_CH3
SS_IN_CH2
SS_OUT_CH1
SS_OUT_CH0
SS_IN_CH1
SS_IN_CH0
22
21
20
19
28
27
24
23
Reset
26
25
18
17
15
14
IOD Connector (P6)
RESET_IN
RESET_REF
SCOM
SPWR
24VCOM
24VPWR
26
25
18
17
15
14
26
25
18
17
15
14
IOD Connector (P6)
RESET_IN
RESET_REF
SCOM
SPWR
24VCOM
24VPWR
26
25
18
17
15
14
26
25
18
17
15
14
IOD Connector (P6)
RESET_IN
RESET_REF
SCOM
SPWR
24VCOM
24VPWR
26
25
18
17
15
14
Input cable from the previous
2094 power rail or other cascading device.
Cascading S0 In
(pins)
Output cable to the next
2094 power rail or other cascading device.
2090-CS0DSDS-AAxx
Cascading Safe-off Cables
Cascading S0 Out
(sockets)
Wiring Legend
= Cable connections
= Customer discrete connections
IMPORTANT For simplicity, the cables are shown connecting end-to-end with the output cable exiting right. However, all connectors are keyed to exit left as shown in
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012 29
Chapter 4 Multi-axis Cascaded Systems
24V DC
Light Curtain or
Safety Mat
OSSD1
OSSD2
Figure 16 - Cascading Safe Stop OSSD Device Wiring Example
22
21
20
19
28
27
24
23
IOD Connector (P5)
TEST_OUT_1
TEST_OUT_0
SS_IN_CH3
SS_IN_CH2
SS_OUT_CH1
SS_OUT_CH0
SS_IN_CH1
SS_IN_CH0
22
21
20
19
28
27
24
23
22
21
20
19
28
27
24
23
IOD Connector (P5)
TEST_OUT_1
TEST_OUT_0
SS_IN_CH3
SS_IN_CH2
SS_OUT_CH1
SS_OUT_CH0
SS_IN_CH1
SS_IN_CH0
22
21
20
19
28
27
24
23
22
21
20
19
28
27
24
23
IOD Connector (P5)
TEST_OUT_1
TEST_OUT_0
SS_IN_CH3
SS_IN_CH2
SS_OUT_CH1
SS_OUT_CH0
SS_IN_CH1
SS_IN_CH0
22
21
20
19
28
27
24
23
Reset
26
25
18
17
15
14
IOD Connector (P6)
RESET_IN
RESET_REF
SCOM
SPWR
24VCOM
24VPWR
26
25
18
17
15
14
26
25
18
17
15
14
IOD Connector (P6)
RESET_IN
RESET_REF
SCOM
SPWR
24VCOM
24VPWR
26
25
18
17
15
14
26
25
18
17
15
14
IOD Connector (P6)
RESET_IN
RESET_REF
SCOM
SPWR
24VCOM
24VPWR
26
25
18
17
15
14
Input cable from the previous
2094 power rail or other cascading device.
Cascading S0 In
(pins)
Output cable to the next
2094 power rail or other cascading device.
Cascading S0 Out
(sockets)
2090-CS0DSDS-AAxx
Cascading Safe-off Cables Wiring Legend
= Cable connections
= Customer discrete connections
IMPORTANT For simplicity, the cables are shown connecting end-to-end with the output cable exiting right. However, all connectors are keyed to exit left as shown in
30 Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
Input cable from previous
2094 power rail or other cascading device.
Multi-axis Cascaded Systems Chapter 4
In this example, three safe torque-off drives are shown using the Bulletin 2090 low-profile connector kit and cables. The right-angled cable connectors are keyed to exit left as shown. Cables loop back and cascade to the next drive or other cascading device.
Figure 17 - Kinetix 6200/6500 Cascading Safe Torque-off Cable Example
2094-BCxx-Mxx-M
IAM Power Module with
2094-xx02x-M0x-S0
Control Module
2090-K6CK-D44S0
Cascading Connector Kits (3)
2094-BMxx-M
AM Power Modules (2) with
2094-xx02x-M0x-S0
Control Modules (2)
2090-K6CK-D15M
Feedback Connector Kits (3)
2090-CS0DSDS-AAxx Cascading Safe Torque-off Cables
I/O Wiring
Input Connector
Output Connector
Safety Wiring
Bottom View
Output cable to next
2094 power rail or other cascading device.
3
1
4
Table 5 - Safe Torque-off Cable Catalog Numbers
Cable Cat. No.
2090-CS0DSDS-AA02
2090-CS0DSDS-AA03
2090-CS0DSDS-AA10
Length
0.2 m (7.1 in.)
0.3 m (1.0 ft)
1.0 m (3.2 ft)
Description
Drive-to-drive connections (single-wide IAM or AM power module)
Drive-to-drive connections (double-wide IAM or AM power module)
Connect to next 2094 power rail or other safe torque-off device
Figure 18 - 2090-CS0DSDS-AA xx Cable Pinout
1
3
M8 x 25.4 (1.0 in.)
Pins, Shielded
Table 6 - 2090-CS0DSDS-AA
xx Cable Terminations
4
1
3
Cable Termination
Pins Sockets
4
1
3
2090-K6CK-D44S0 Pin
22
18
18
21
23
24
Description
Safety 24V common
Safe stop output 0
Safe stop output 1
Safety 24V common
Safe stop input 2
Safe stop input 3
M8 x 25.4 (1.0 in.)
Sockets, Shielded
Signal
SCOM
SS_OUT_CH0
SS_OUT_CH1
SCOM
SS_IN_CH2
SS_IN_CH3
4
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012 31
Chapter 4 Multi-axis Cascaded Systems
Notes:
32 Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
Chapter
5
Troubleshooting the Safe Torque-off Drive
Introduction
Nonrecoverable Faults
Fault Recovery
This chapter provides troubleshooting tables for diagnosing fault conditions associated with the safe torque-off safety functions.
Topic Page
In addition to the recoverable faults described in this chapter, the drive also generates nonrecoverable faults when a problem with the drive hardware is detected. These faults are Safe State faults. If a Safe State fault occurs, all safety control outputs are set to their safe state.
To clear a nonrecoverable fault, cycle power. If the nonrecoverable fault persists, the drive may need to be replaced.
If the fault is no longer present, you can clear the fault condition with a successful
SO Reset and a Motion Axis Fault Reset (MAFR) via your RSLogix 5000 application program, except in the case of an Internal Hdwr fault or MP Out fault. An Internal Hdwr fault or MP Out fault is cleared at power down.
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
33
Chapter 5
Troubleshooting the Safe Torque-off Drive
Input and Output Faults
An input or output fault indication can be caused by several wiring fault conditions during commissioning or normal operation. If an input fault occurs, check for the following:
• One of the channels may have shorted to a 24V DC source.
• One of the channels may have shorted to a GND source.
• Two input channels have shorted together.
• One or both output channels have an overcurrent condition.
An input fault will also occur if only one of the channels in a dual-channel system has changed state after a 1-second discrepancy time interval.
Fault Codes and Descriptions
The drive web page can display a fault history queue, which provides a record of the faults detected by the drive. The fault history queue stores the fault codes and timestamps for the last 10 faults that occurred.
Code
SAFE FLT 01...
SAFE FLT 03...
SAFE FLT 09...
SAFE FLT 10...
Display Text
INTERNAL HDWR nn
(1)
MP OUT nn
(1)
SS IN nn
(1)
SS OUT nn
(1)
I/O
Faults
Refer to the Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drive
User Manual, publication 2094-UM002 , for more information on accessing the drive web page.
Table 6 - Safe Torque-off Fault Codes
Description
A nonrecoverable microprocessor error has occurred.
An MP Output fault occurs if an internal error is detected in the circuit that removes motion producing power from the drive terminals.
(2)
An SS_In fault occurs if an error is detected in one of the SS_In dual-channel inputs.
An SS_Out fault occurs if an error is detected in the SS_Out dual-channel output.
(1) The nn field is a sub code that provides additional information regarding the fault.
(2) Refer to
Input and Output Faults on this page for more information.
34
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
Status Attributes
Troubleshooting the Safe Torque-off Drive
Chapter 5
For diagnostic purposes only, you can view status attributes by accessing the
AxisServoDrive.GuardStatus tag (Kinetix 6200 systems) and
AxisCIPDrive.GuardStatus tag (Kinetix 6500 systems) in RSLogix 5000 software.
IMPORTANT AxisServoDrive.GuardStatus tags must be selected as a Real-time attribute in order to receive updated attribute values. This is not required for
AxisCIPDrive.GuardStatus tags.
0
1
2
4
5
6
7
Bit
3
8
Display Text
Axis 1.
GuardOKStatus
RESERVED
GuardGateDrive
OutputSatus
GuardStopInput
Status
GuardStop
RequestStatus
RESERVED
RESERVED
RESERVED
GuardStop
OutputStatus
9…22 RESERVED
23 GuardResetInputStatus
24 GuardResetRequiredStatus
25…31 RESERVED
Guard Status Attributes
These attributes are stored in the AxisServoDrive.GuardStatus tag (Kinetix 6200 systems) and AxisCIPDrive.GuardStatus tag (Kinetix 6500 systems). Each bit corresponds to a different attribute.
Table 7 - Guard Status Descriptions
Description
This bit indicates when there are no faults. It is set (1), when all of the Fault Status bits 1…31 are 0 (no faults). The bit is 0 if any Fault
Status bit from 1…31 indicates a fault (1).
Reserved.
This bit shows the status of the drive’s Motion Power command to the drive. A 1 indicates Motion Power is enabled; a 0 indicates
Motion Power is disabled.
This bit displays the logical value, 1 or 0, evaluated for the dual-channel SS_In input.
This bit is set to 1 when a safe stop is initiated by either a transition of the SS_In input from ON to OFF or by a Stop Category fault.
This bit is reset to 0 when a successful SO Reset occurs and when the Operation mode is set to Disabled (0).
Reserved.
Reserved.
Reserved.
This bit is set to 1 if the dual-channel SS_Out output is being commanded to the ON state. This bit is the commanded value, not a readback value.
This bit is set to 0 if the SS_Out output is being commanded to the OFF state.
Reserved.
This status bit reflects the state of the Reset_In input. A 1 indicates the Reset_In input is ON; a 0 indicates the Reset_In input is OFF.
This bit is set to 1 if an SO Reset is required before Motion Power can be enabled.
Reserved.
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
35
Chapter 5
Troubleshooting the Safe Torque-off Drive
Table 8 - Guard Status Bit Values
Parameter Name
Axis 1: Guard Status
Description
GuardOKStatus
GuardConfigLockedStatus
GuardGateDriveOutputSatus
GuardStopInputStatus
GuardStopRequestStatus
GuardStopInProgressStatus
GuardStopDecelStatus
GuardStopStandstillStatus
GuardStopOutputStatus
GuardLimitedSpeedInputStatus
GuardLimitedSpeedRequestStatus
GuardLimitedSpeedMonitorInProgressStatus
GuardLimitedSpeedOutputStatus
GuardMaxSpeedMonitorInProgressStatus
GuardMaxAccelMonitorInProgressStatus
GuardDirectionMonitorInProgressStatus
GuardDoorControlLockStatus
GuardDoorControlOutputStatus
GuardDoorMonitorInputStatus
GuardDoorMonitorInProgressStatus
GuardLockMonitorInputStatus
GuardEnablingSwitchInputStatus
GuardEnablingSwitchInProgressStatus
GuardResetInputStatus
GuardResetRequiredStatus
GuardStopInputCycleRequiredStatus
Parameter Name
Guard Fault Attributes
Description
Axis 1: Guard Faults Bit-encoded faults
Bit Values
0 = Fault; 1 = OK
Reserved
0 = Off; 1 = On
0 = Off; 1 = On
0 = Inactive; 1 = Active
Reserved
Reserved
Reserved
0 = Off; 1 = On
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
0 = Off; 1 = On
0 = Off; 1 = On
Reserved
Bit Values
1 = GuardInternalFault
2 = Reserved
3 = GuardGateDriveFault
4 = Reserved
5 = Reserved
6 = Reserved
7 = Reserved
8 = Reserved
9 = GuardStopInputFault
10 = GuardStopOutputFault
11 = Reserved
12 = Reserved
13 = Reserved
14 = Reserved
15 = Reserved
16 = Reserved
17 = Reserved
18 = Reserved
19 = Reserved
20 = Reserved
21 = Reserved
22 = Reserved
23 = Reserved
24 = Reserved
25 = Reserved
26 = Reserved
27 = Reserved
28 = Reserved
36
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
Appendix
A
Specifications
Introduction
General Specifications
This appendix provides product specifications for the safe torque-off safety functions.
Topic Page
These specifications apply to the safe torque-off safety functions.
Attribute Value
Standards
Safety category
IEC/EN60204-1, ISO12100, IEC 61508, IEC 61800-5-2
Cat. 4 and PLe per EN ISO 13849-1;
SIL CL3 per IEC 61508 and EN 62061
Power supply
Voltage
Current, max
Power consumption
SS outputs
Pulse outputs
SS inputs, max
Input pulse rejection, max
Input ON voltage, min
Input OFF voltage, max
Input OFF current, max
Safety reaction time, max
(1)
Reset_In Input, max
Reset time, max
(2)
Conductor size
(3)
Strip length
Terminal screw torque
21.6…28.8V DC (24V nom), 0.9…1.2 x rated voltage PELV or SELV
0.105 A
3 W
24V DC, 20 mA, short-circuit protected
24V DC, 30 mA, short-circuit protected
5 mA per input
700 μs
16.5V
5V
2 mA
12 ms
5 mA per input
20 ms
0.25…0.75 mm
2
(24…18 AWG)
5 mm (0.25 in.)
0.22…0.25 N•m (1.9…2.2 lb•in)
(1) When multiple drives are cascaded together, the safety reaction time for the last drive is the total of all drives times 12 ms.
(2) When multiple drives are cascaded together, the safety reset time for the last drive is the total of all drives times 20 ms.
(3) Refer to Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1
.
37
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
Appendix A
Specifications
Certifications
See the Product Certification link at http://www.ab.com
for Declarations of
Conformity, Certificates, and other certifications details.
Agency
Certification
(1) c-UL-us
(2)
Value
UL Listed, certified for US and Canada.
CE
C-Tick
European Union 2004/108/EC EMC Directive, compliant with:
• EN 61800-3; categories C2 and C3
• EN 62061; EM Immunity
Australian Radiocommunications Act, compliant with:
EN 61800-3; categories C2 and C3
Functional Safety TÜV Certified for Functional Safety: up to SIL CL3, according to EN 61800-5-2, EN 61508, and
EN 62061; up to Performance Level PLe and Category 4, according to EN ISO 13849-1; when used as described in this Kinetix 6200 and Kinetix 6500 Safe Torque-off Safety Reference
Manual, publication 2094-RM002.
(1) When product is marked, refer to http://www.ab.com
for Declarations of Conformity Certificates.
(2) Underwriters Laboratories Inc. has not evaluated the safe-off, safe torque-off, or safe speed-monitoring options in these products.
38
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
Index
Numerics
2090-K6CK-D44M
2090-K6CK-D44S0
A
additional resources
ADR
automatic drive replacement
automatic reset
,
C
cascaded configurations
cascaded connections
Cat 4
performance definition
certification
Cat 4
ISO 13849-1
PLe
SIL CL3
connector kit wiring
cycle inputs
D
discrepancy time
documentation additional resources
drive replacement
E
emergency shutdown systems
EN 61508
SIL CL3 certification
EN 61508-5-2
EN 61800-5-2
SIL CL3 certification
EN 62061
European Norm definition
F
failure contact information
fault codes input
nonrecoverable
output
recovery
Stop Category Faults
fault history queue
fault recovery
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
G
guard faults
guard status
I
input faults
inputs
ISO 13849-1
M
motion-allowed plug
multi-axis configurations
wiring
O
output faults
outputs
P
PFD data
definition
,
PFH data
definition
,
pinouts
PL
definition
PLe
,
,
power supply
pulse test outputs
R
reaction time
recover from fault
reset behavior
Reset input wiring
Reset_In input
risk assessment
S
Safe State safety definition
certification, TÜV Rheinland
information
power supply
reaction time
shutdown, EDS
39
Index
SIL CL3
certification, user responsibilities
single-channel operation
SO Reset
specifications general
SS_Out output
status attributes
stop category definition
T
terminal screws connections
strip length
torque
timing diagrams discrepancy time
reset behavior
W
wiring connector kit
2090-K6CK-D44M
2090-K6CK-D44S0
motion-allowed plug
multi-axis connections
safety input examples
wiring example
Safe Stop mode
40
Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
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Installation Assistance
If you experience a problem within the first 24 hours of installation, review the information that is contained in this manual. You can contact Customer Support for initial help in getting your product up and running.
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Outside United States or Canada Use the Worldwide Locator at http://www.rockwellautomation.com/support/americas/phone_en.html
, or contact your local Rockwell
Automation representative.
New Product Satisfaction Return
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Please contact your local Rockwell Automation representative for the return procedure.
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Publication 2094-RM002B-EN-P - May 2012
Supersedes Publication 2094-RM002A-EN-P - January 2010 Copyright © 2012 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.
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