Rockwell Automation Allen-Bradley 2094-AM-S Series Safety Reference Manual
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Safety Reference Manual
Kinetix Safe Torque-off Feature
Catalog Numbers 2094-AC
xx
-M
xx
-S, 2094-BC
xx
-M
xx
-S, 2094-AM
xx
-S, 2094-BM
xx
-S, 2099-BM
xx
-S
Original Instructions
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, GuardLogix, GuardPLC, Kinetix, Logix5000, 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 changes for the Kinetix 6000 series C servo drives.
Topic
Updated references to safe-off (SO) as safe torque-off (STO), per EN 61800-5-2.
Replaced references to EN 954-1 with EN ISO 13849-1.
Updated safe torque-off descriptive text, including certification, description of operation, and
PFD/PFH definitions and data.
Updated European Union Directives and moved from chapter 3 to chapter 1.
Updated Safe Torque-off Interface Cables table with 1202-C30, 3 m (9.8 ft) cable.
Added Safe Torque-off Headers table.
Added safe torque-off specifications for Kinetix 6000 (series C) drives.
Added EC Certifications appendix that includes examination certificate and declaration of conformity for Kinetix 6000 and Kinetix 7000 drives.
Page
Throughout this manual
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 3
Summary of Changes
Notes:
4 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Table of Contents
Preface
Chapter 1
Safety Concept and Troubleshooting
Important Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Category 3 Requirements According to EN ISO 13849-1 . . . . . . . . 10
Understanding the Safe Torque-off Condition vs Drive Fault . . . . 13
Safe Torque-off Connector Data
Specifications
Chapter 2
Safe Torque-off Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Safe Torque-off Header Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Wiring Your Kinetix Safe Torque-off
Drive
Chapter 3
Safe Torque-off Wiring Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Safe Torque-off Feature Bypass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Safe Torque-off Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . 24
Safe Torque-off Wiring Examples for SIL 3 Applications . . . . . . . . 27
Appendix A
Safe Torque-off Response Time Specifications. . . . . . . . . . . . . . . . . . . . . . 29
Safe Torque-off Signal Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Kinetix 6000 (series A and B) and Kinetix 7000 Servo Drives . . . . 29
Kinetix 6000 (series C) Servo Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 5
Table of Contents
Kinetix Safe Torque-off Wiring
Diagrams
EC Certifications
Appendix B
Kinetix Safe Torque-off/Safety Relay Configurations. . . . . . . . . . . . . . . . 32
Kinetix Safe Torque-off/GuardLogix Configurations. . . . . . . . . . . . . . . . 35
Kinetix Safe Torque-off/GuardPLC Configurations . . . . . . . . . . . . . . . . 39
Appendix C
EC Type - Examination Certificate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Index
6 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Preface
About This Publication
Audience
This manual provides detailed installation instructions for wiring and troubleshooting your Kinetix 6000 and Kinetix 7000 safe torque-off drives.
Included are interconnect diagrams with Allen-Bradley safety relays, GuardLogix controllers, and GuardPLC controllers.
This manual is intended for engineers or technicians directly involved in the installation and wiring of the Kinetix 6000 and Kinetix 7000 drives, and programmers directly involved in the operation, field maintenance, and integration of the Kinetix 6000 and Kinetix 7000 drives in a safe torque-off application.
If you do not have a basic understanding of the Kinetix 6000 and Kinetix 7000 drives, contact your local Rockwell Automation sales representative for information on available training courses.
Conventions Used in This
Manual
The following conventions are used throughout this manual:
• Bulleted lists such as this one provide information, not procedural steps.
• Numbered lists provide sequential steps or hierarchical information.
• Bold type is used for emphasis.
Terminology
IEC
HFT
STO
IGBT
PL
SIL
PFD
PFH
Acronym
EN
ISO
This table defines acronyms used throughout this manual.
Full Term
European Norm
International Organization for
Standardization
Definition
European Standards (EN specifications) developed by the European Committee for
Standardization for the European Union.
Voluntary organization whose members are recognized authorities on standards, each one representing a different country.
International Electrotechnical
Commission
Performance Level
Safety Integrity Level
Non-profit, non-governmental international standards organization that prepares and publishes international standards for all electrical, electronic, and related technologies, collectively known as electrotechnology.
EN ISO 13849-1 safety rating.
The measure of a products ability to lower the risk that a dangerous failure could occur.
Probability of Failure on Demand The average probability of a system to fail to perform its design function on demand.
Probability of Failure per Hour The probability of a system to have a dangerous failure occur per hour.
Hardware Fault Tolerance
Equals N, where N+1 faults could cause the loss of the safety function. A hardware fault tolerance of 1 means that 2 faults are required before safety is lost.
Safe Torque-off Functional safety feature that complies with IEC 61800-5-2.
Insulated Gate Bi-polar Transistors Typical power switch used to control main current.
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 7
Preface
Additional Resources
These documents contain additional information concerning related Rockwell
Automation products.
Resource
Kinetix 6000 Multi-axis Servo Drive User Manual, publication 2094-UM001
Kinetix 7000 High Power Servo Drive User Manual, publication 2099-UM001
Description
Detailed mounting, wiring, setup with RSLogix 5000 software, applying power, and troubleshooting information, with appendices to support firmware upgrades, common bus applications, and Bulletin 2090 resistive brake module (RBM) applications.
Detailed mounting, wiring, setup with RSLogix 5000 software, applying power, and troubleshooting information, with an appendix to support firmware upgrades.
DeviceNet Modules in Logix5000 Control Systems User Manual, publication DNET-UM004
Information on controlling devices on the DeviceNet network.
DeviceNet Safety User Manual, publication 1791DS-UM001
System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001
EMC Noise Management DVD, GMC-SP004
Rockwell Automation Configuration and Selection Tools website, website http://ab.com/e-tools
Rockwell Automation Product Certification, website http://rockwellautomation.com/products/certification
Safety Products Catalog, website http://ab.com/catalogs
Information on installing and configuring the 1791DS Series modules.
Information, examples, and techniques designed to minimize system failures caused by electrical noise.
Online product selection and system configuration tools, including AutoCAD
(DXF) drawings.
For declarations of conformity (DoC) currently available from Rockwell
Automation.
Information regarding Allen-Bradley safety products.
Application Considerations for Solid-State Controls, publication SGI-1.1
Safety of Machinery - Safety Related Parts of Control Systems, standard EN 954-1
A description of important differences between solid-state programmable controller products and hard-wired electromechanical devices.
Safety requirements and guidance on the principles for the design of safety related parts of control systems.
Functional Safety of Electrical/Electronic/Programmable Electronic Safety-related Systems, standard
IEC 61508
Aspects to be considered when electrical/electronic/programmable electronic systems are used to carry out safety functions.
National Electrical Code, published by the National Fire Protection Association of Boston, MA
Rockwell Automation Industrial Automation Glossary, publication AG-7.1
An article on wire sizes and types for grounding electrical equipment.
A glossary of industrial automation terms and abbreviations.
You can view or download publications at http://literature.rockwellautomation.com
. To order paper copies of technical documentation, contact your local Rockwell Automation distributor or sales representative.
8 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Certification
Chapter
1
Safety Concept and Troubleshooting
This chapter introduces you to how the safe torque-off feature meets the requirements of Performance Level e (PLe) and safety category 3 (CAT 3) per
EN ISO 13849-1 and SIL 3 per IEC 61508, EN 61800-5-2 and EN 62061.
This chapter also provides a troubleshooting table and flowchart for understanding the Safe Torque-off mode.
Topic
Page
The TÜV Rheinland group has approved the Kinetix 6000 and Kinetix 7000 servo drives for use in safety-related applications up to EN ISO 13849-1
Performance Level e (PLe) and category 3, SIL 3 per IEC 61508, EN 61800-5-2 and EN 62061, in which removing the motion-producing power is considered to be the safe state.
To view the certificate, refer to
EC Type - Examination Certificate on page 43 .
Important Safety Considerations
You are responsible for the following:
• Validation of any sensors or actuators connected to the system
• Completing a machine-level risk assessment
• Certification of the machine to the desired EN ISO 13849-1 performance level or EN 62061 SIL level
• Project management and proof testing
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 9
Chapter 1 Safety Concept and Troubleshooting
Category 3 Requirements According to EN ISO 13849-1
Safety-related parts are designed with these attributes:
• A single fault in any of these parts does not lead to the loss of the safety function.
• A single fault is detected whenever reasonably practicable.
• Accumulation of undetected faults can lead to the loss of the safety function, which results in failure to remove motion-producing power from the motor.
Stop Category Definition
Stop category 0 as defined in EN 60204 or Safe Off as defined by EN 61800-5-2 is achieved with immediate removal of motion-producing power to the actuator.
IMPORTANT In the event of a malfunction, the most likely stop category is category 0. When designing the machine application, timing and distance should be considered for a coast-to-stop. For more information regarding stop categories, refer to
EN 60204-1.
European Union Directives
If this product is installed within the European Union or EEC regions and has the CE mark, the following regulations apply.
CE Conformity
Conformity with the Low Voltage Directive and Electromagnetic Compatibility
(EMC) Directive is demonstrated by using harmonized European Norm (EN) standards published in the Official Journal of the European Communities. The safe torque-off circuit complies with the EN standards when installed according instructions found in this manual.
10
EMC Directive
This unit is tested to meet Council Directive 2004/108/EC Electromagnetic
Compatibility (EMC) by using these standards, in whole or in part:
• EN 61800-3 - Adjustable Speed Electrical Power Drive Systems,
Part 3 - EMC Product Standard including specific test methods
• EN 61326-3-1 EMC - Immunity requirements for safety-related systems
The product described in this manual is intended for use in an industrial environment.
CE Declarations of Conformity are available online at http://www.rockwellautomation.com/products/certification and in EC
Declaration of Conformity on page 178 .
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Description of Operation
Safety Concept and Troubleshooting Chapter 1
Low Voltage Directive
These units are tested to meet Council Directive 2006/95/EC Low Voltage
Directive. The EN 60204-1 Safety of Machinery-Electrical Equipment of
Machines, Part 1-Specification for General Requirements standard applies in whole or in part. Additionally, the standard EN 61800-5-1 Electronic
Equipment for use in Power Installations apply in whole or in part.
Refer to the Kinetix Servo Drives Specifications Technical Data, publication
GMC-TD003 , for environmental and mechanical specifications.
The safe torque-off feature provides a method, with sufficiently low probability of failure, to force the power-transistor control signals to a disabled state. When disabled, or any time power is removed from the safety enable inputs, all of the drive output-power transistors are released from the On-state. This results in a condition where the drive is coasting (stop category 0). Disabling the power transistor output does not provide mechanical isolation of the electrical output, which may be required for some applications.
Under normal operation, the safe torque-off inputs are energized. If either of the safety-enable inputs are de-energized, then all of the output power transistors will turn off. The safe torque-off response time is less than 25 ms.
ATTENTION: Permanent magnet motors can, in the event of two simultaneous faults in the IGBT circuit, result in a rotation of up to 180 electrical degrees.
PFD and PFH Specifications
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.
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).
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 11
Chapter 1 Safety Concept and Troubleshooting
PFD and PFH Data
These PFD and PFH calculations are based on the equations from IEC 61508
and show worst-case values. Table 1 provides test data and demonstrates the
worst-case effect of various configuration changes on the data.
Table 1 - PFD and PFH Proof Test Interval
Attribute Kinetix 6000 Drives Kinetix 7000 Drives
Proof test interval (years) 20 15
Determination of safety parameters is based on the assumption that the system operates in High Demand mode and that the safety function is requested at least once a year.
PFH and PFD determination was performed without considering external wiring failure modes, as described in EN ISO 13849-2. Depending on the application, consider taking measures to exclude these failure modes.
To proof test the safe torque-off function, you must interrupt power to the safe torque-off function inputs (STO-5 and STO-7) and verify the drive is in the
disabled state. Refer to the Safe Torque-off Connector Pinout on page 15 , for
signal descriptions and pinouts.
Troubleshooting
Error
Code
Fault Message RSLogix
(HIM)
Problem or Symptom
E49
DriveHardFault
(Safe-off HW Flt)
The safe-off fault (E49) is detected upon demand of the safe-off function.
Table 2 - Kinetix 6000 and Kinetix 7000 Safe Torque-off Troubleshooting
Safe-off function mismatch.
Drive will not allow motion.
Potential Cause Possible Resolution
· Loose wiring at safe torque-off (STO) connector.
· Cable/header not seated properly in safe torque-off (STO) connector.
· Safe-off circuit missing +24V DC.
· Verify wire terminations, cable/header connections, and +24V.
· Reset error and run proof test.
· If error persists, return the drive to Rockwell
Automation.
ATTENTION: After troubleshooting, a proof test must be performed to verify correct operation.
12 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Safety Concept and Troubleshooting Chapter 1
Understanding the Safe Torque-off Condition vs Drive Fault
When both inputs de-energize within 100 ms, a fault does not occur (E49 is not displayed), however, a safe torque-off state is entered within the 25 ms response time. The safe torque-off condition occurs through normal drive operation.
A mismatch occurs when one input is de-energized while the other input is energized after 100 ms. This causes the E49 error code to display and the drive begins a shutdown sequence. Causes for a mismatch include:
• wiring anomalies at the Safe Torque-off (STO) connector, pins STO-5 and
STO-7, or the external monitoring relay.
• input anomalies associated with the Safe Torque-off (STO) connector, pins STO-5 and STO-7.
• sequencing errors in the program.
• EMI interference.
To determine if you have a safe torque-off fault or condition, you must examine the Axis_Servo_Drive status bit in RSLogix 5000 software.
• If bit status is 0, then no safe torque-off condition or fault exists.
• If bit status is 1, then a safe torque-off condition or fault does exist.
Figure 1 - RSLogix 5000 Software, Version 15 Safe Torque-off Status Bit
In the RSLogix 5000, version 15 example, the axis
.DriveStatus.14 bit is set to 0, indicating the drive is not in Safe Torque-off mode. No safe torque-off condition or fault exists.
Figure 2 - RSLogix 5000 Software, Version 16 (or later) Safe Torque-off Status Bit
In the RSLogix 5000, version 16 example, the axis
.SafeOffModeActiveStatus bit is set to 0, indicating the drive is not in Safe Torque-off mode. No safe torque-off condition or fault exists.
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 13
Chapter 1 Safety Concept and Troubleshooting
Figure 3 - Advanced Safe Torque-off Troubleshooting Flowchart
Start
Yes
Bulletin 2099 or
Bulletin 2094 with safe torque-off (-S) drive?
No v15
Go to RSLogix 5000 software>Motion Group>
Axis_Servo_Drive tag name>Monitor Axis tag>
Axis_Servo_Drive.DriveStatus bit 14.
Refer to user manual for troubleshooting Bulletin 2094 drives without safe torque-off.
RSLogix 5000 software v15 or v16?
v16 (or later)
Go to RSLogix 5000 software>Motion Group>
Axis_Servo_Drive tag name>Monitor Axis tag>
Axis_Servo_Drive.SafeOffModeActiveStatus GUI.
1 Safe Torque-off status bit
1 or 0?
No
0
No safe torque-off fault or condition.
Both inputs energized within 100 ms.
Yes
Was the axis enabled prior to reading bit?
No
1
Safe Torque-off condition exists through normal operation. Both inputs de-energized within 100 ms of each other.
Resolve safe torque-off condition.
Complete MSF
1 instruction.
Was error code
E49 displayed?
Yes Yes
Safe Torque-off fault exists.
Mismatch occurred outside of the 100 ms response time.
Drive Status Indicator = Steady Red.
DriveHardFault and Axis Shutdown in RSLogix 5000 software.
Resolve safe torque-off fault.
Was error code
E49 displayed?
No
2
Safe Torque-off condition exists through normal operation. Both inputs de-energized within 100 ms of each other.
Resolve safe torque-off condition.
Complete MASR instruction.
MSO instruction or next program step.
Finish
(1) This is a safe torque-off condition because the safe torque-off status bit is set to 1 without an E49 error code. After the condition is fixed, the motion planner must be signaled that the position loop has opened in the condition state with a Motion Servo Off (MSF) instruction before the next Motion Servo On (MSO) instruction can take place. The MSF instruction is necessary because the drive is enabled and running.
(2) This is also a safe torque-off condition (the safe torque-off status bit is set to 1 without an E49 error code). The safe torque-off condition must be resolved, but because the drive is not enabled and running the MSF instruction is not necessary.
14 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Chapter
2
Safe Torque-off Connector Data
This chapter provides safe torque-off (STO) connector, header, and interface cable information for the Kinetix 6000 and Kinetix 7000 safe torque-off drives.
Topic
Safe Torque-off Connector Pinout
Safe Torque-off Header Configurations
Page
Safe Torque-off Connector
Pinout
7
8
9
5
6
3
4
1
2
Safe Torque-off
(STO) Connector Pin
Also Applies to These
STO Connector Headers
• Wiring plug header used in single-drive applications
• First-drive wiring header
(2090-XNSM-W) used in multiple-drive applications
• Wiring plug header
• Motion-allowed jumper
Headers are available to extend the 9-pin safe torque-off (STO) connector signals for use in wiring single and multiple safe torque-off drive configurations, or to defeat (not use) the safe torque-off function.
Table 3 - 9-pin Safe Torque-off (STO) Connector
Description Signal
One side of the normally-closed monitoring contact of relay 2
Other side of the normally-closed monitoring contact of relay 2
One side of the normally-closed monitoring contact of relay 1
Other side of the normally-closed monitoring contact of relay 1
Safety enable 2 input
Return for safety enable power (both inputs)
Safety enable 1 input
Output power for continuous enable of the safety function, 500 mA, max
Output power return used for continuous enable of safety function
FDBK2+
FDBK2-
FDBK1+
FDBK1-
SAFETY ENABLE2+
SAFETY ENABLE-
SAFETY ENABLE1+
24V+
24V_COM
IMPORTANT Pins STO-8 (internal 24V+ supply) and STO-9 (24V_COM) are used only by the motion-allowed jumper to defeat the safe torque-off function. When the safe torque-off function is in operation, the 24V supply must come from an external source.
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 15
Chapter 2 Safe Torque-off Connector Data
Figure 4 - 9-pin Safe Torque-off (STO) Connector - Kinetix 6000 Drive
Safe Torque-off
(STO) Connector
CTRL 2
CTRL 1
DC-
DC+
L3
L2
L1
CONT EN-
CONT EN+
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
RX
DPI
TX BAUD
RATE
RX
MBRK -
MBRK +
COM
PWR
DBRK -
DBRK +
W
V
U
TX BAUD
RATE
Integrated Axis Module (IAM), Top View
(2094-BC01-MP5-S is shown)
Figure 5 - 9-pin Safe Torque-off (STO) Connector - Kinetix 7000 Drive
Axis Module (AM), Top View
(2094-BMP5-S is shown)
1 2 3 4 5 6 7 8 9
Safe Torque-off
(STO) Connector
Kinetix 7000 Drive Module, Top View
(2099-BM06-S is shown)
16 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Safe Torque-off Header
Configurations
Safe Torque-off Connector Data Chapter 2
The safe torque-off function can be implemented in a single-drive or extended in up to eight drives in a multiple safety-drive configuration. The connector can also be jumpered to effectively remove the safe torque-off function.
In this example, the Kinetix 6000 axis module is shown with the motion-allowed jumper installed in the wiring plug header. This header/jumper combination
(default configuration) ships with each Kinetix 6000 and Kinetix 7000 drive and enables drive operation without external safety-circuit connections.
Figure 6 - Motion-allowed Jumper
Kinetix 6000 or Kinetix 7000 Drive
(Kinetix 6000 axis module is shown)
1
1 2 3 4 5 6 7 8 9
Safe Torque-off
(STO) Connector
Motion-allowed Jumper
Wiring Plug Header
Kinetix 6000 or Kinetix 7000 Drive
(Kinetix 6000 axis module is shown)
In this example, the Kinetix 6000 axis module is shown with a wiring plug header.
The motion-allowed jumper has been removed. Use the wiring plug header alone for wiring Kinetix 6000 and Kinetix 7000 single drive safe torque-off applications.
Figure 7 - Single Drive Wiring Header
1 2 3 4 5 6 7 8 9
Safe Torque-off terminals for input wiring (STO-1…STO-7).
Wiring Plug Header
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 17
Chapter 2 Safe Torque-off Connector Data
Kinetix 6000 or Kinetix 7000 Drive
(Kinetix 6000 axis module is shown)
In this example, the Kinetix 6000 axis module is shown with a first-drive wiring header (catalog number 2090-XNSM-W). Kinetix 6000 and Kinetix 7000 firstdrive modules use this header in multiple safe torque-off drive configurations for wiring to a safety control circuit and extending the safe torque-off circuitry to another drive.
Figure 8 - First-drive Wiring Header (2090-XNSM-W)
Cable connector to second drive in safety circuit.
Safe Torque-off terminals for input wiring (STO-1…STO-7).
IMPORTANT Do not use the first-drive (2090-XNSM-W) wiring header in single-drive applications.
Figure 9 - First-drive Wiring Header Pin Assignment
SO-1 2 3 4 5 6 7
18 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Kinetix 6000 or Kinetix 7000 Drive
(Kinetix 6000 axis module is shown)
Safe Torque-off Connector Data Chapter 2
In this example, the Kinetix 6000 axis module is shown with a drive-to-drive middle header (catalog number 2090-XNSM-M). Kinetix 6000 and
Kinetix 7000 drive modules, in safe torque-off drive configurations of three or more, use this header for making the safe torque-off connections between drives.
Figure 10 - Middle Drive Header (2090-XNSM-M)
Cable connectors to the next and previous drive in safety circuit.
IMPORTANT Next and previous drive cable connection to the middle header (catalog number 2090-XNSM-M) is arbitrary. Input and output is not specified.
In this example, the Kinetix 6000 axis module is shown with a last-drive terminating header (catalog number 2090-XNSM-T). Kinetix 6000 and
Kinetix 7000 drive modules use this header in multiple safe torque-off drive configurations for making safe torque-off connections to the last drive.
Figure 11 - Last Drive Header (2090-XNSM-T)
Cable connector to last drive in safety circuit.
Kinetix 6000 or Kinetix 7000 Drive
(Kinetix 6000 axis module is shown)
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 19
Chapter 2 Safe Torque-off Connector Data
Safe Torque-off Accessories
An assortment of headers, when wired and plugged into the safe torque-off
(STO) connector, make implementation possible, as described in this table.
Table 4 - Safe Torque-off Headers
Description
Safe Torque-off wiring header for the first drive in multiple safety drive configurations
(optional).
Safe Torque-off middle header for drive-to-drive connections in multiple safety drive configurations with three or more drives (optional).
Safe Torque-off terminating header for the last drive in multiple safety drive configurations
(optional).
Cat. No.
2090-XNSM-W
2090-XNSM-M
2090-XNSM-T
Safe Torque-off interface cables are required for making connections with
2090-XNSM-W, 2090-XNSM-M, and 2090-XNSM-T safe torque-off headers.
Table 5 - Safe Torque-off Interface Cables
Cat. No.
1202-C02
1202-C03
1202-C10
1202-C30
Description
Drive-to-drive safety cable, 200 mm (7.9 in.) for connecting single-wide Kinetix 6000 axis modules.
Drive-to-drive safety cable, 350 mm (13.8 in.) for connecting double-wide Kinetix 6000 axis modules.
Drive-to-drive safety cable, 1050 mm (41.3 in.) for connections between:
• Kinetix 6000 power rail and Kinetix 7000 drive.
• Two Kinetix 6000 power rails.
• Two Kinetix 7000 drives.
Drive-to-drive safety cable, 3 m (9.8 ft) for any connections requiring additional cable length within the system enclosure.
Cat. No.
2094-XNINV-1
2094-ANINV-2
2094-XNINV-1
2094-BNINV-2
2099-K7KCK-1
IMPORTANT Due to the current capacity limitation of the safe torque-off interface cable connectors, multiple safe torque-off drive configurations must not exceed eight Kinetix 6000 and Kinetix 7000 drive modules.
A replacement (STO) header with jumper is included in connector sets for the
Kinetix 6000 and Kinetix 7000 safe torque-off drives.
Table 6 - Replacement Connector Sets
Drive Module
Kinetix 6000 IAM and AM
Modules
Kinetix 7000 High Power Drives
Drive Cat. No.
2094-AC05-M xx -S, 2094-AC09-M02-S,
2094-AMP5-S, 2094-AM01-S, 2094-AM02-S
2094-AC16-M03-S, 2094-AC32-M05-S, 2094-AM03-S,
2094-AM05-S, 2094-BC04-M03-S, 2094-BM03-S
2094-BC01-M xx
-S, 2094-BC02-M02-S,
2094-BMP5-S, 2094-BM01-S, 2094-BM02-S
2094-BC07-M05-S, 2094-BM05-S
Description
Includes motor power (MP), motor/resistive brake (BC), and safe torque-off (STO) replacement connectors for the IAM
(inverter) and AM modules.
2099-BM xx -S
Includes safe torque-off (STO), general purpose I/O (GPIO), general purpose relay (GPR), and control power (CP) replacement connectors for Kinetix 7000 drives.
20 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Wiring Your Kinetix Safe Torque-off Drive
Chapter
3
This chapter provides guidelines for wiring your Kinetix 6000 and Kinetix 7000 safe torque-off drive connections.
Topic
Wire the Safe Torque-off Circuit
Safe Torque-off Wiring Requirements
Page
Wire the Safe Torque-off
Circuit
This section provides guidelines for wiring your Kinetix 6000 and Kinetix 7000 safe torque-off drive connections.
IMPORTANT The National Electrical Code and local electrical codes take precedence over the values and methods provided.
IMPORTANT To improve system performance, run wires and cables in the wireways as established in Establishing Noise Zones beginning on page 33 .
IMPORTANT
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 21
Chapter 3 Wiring Your Kinetix Safe Torque-off Drive
Safe Torque-off Wiring
Requirements
These are the safe torque-off (STO) wiring requirements. Wire should be copper with 75
°
C (167
°
F) minimum rating.
IMPORTANT The National Electrical Code and local electrical codes take precedence over the values and methods provided.
STO-1
STO-2
STO-3
STO-4
STO-5
STO-6
STO-7
STO-8
STO-9
Table 7 - Safe Torque-off (STO) Connector
Pin
Safe Torque-off (STO) Connector
Signal
Recommended Wire Size
Stranded Wire with Ferrule mm
2
(AWG)
Solid Wire mm
2
(AWG)
FDBK2+
FDBK2-
FDBK1+
FDBK1-
SAFETY ENABLE2+
SAFETY ENABLE-
SAFETY ENABLE1+
24V +
24V_COM
0.75 (18) 1.5 (16)
Strip Length mm (in.)
7.0 (0.275)
Torque Value
N•m (lb•in)
0.235 (2.0)
IMPORTANT
IMPORTANT To be sure of system performance, run wires and cables in the wireways as established in the user manual for your drive.
Refer to Additional Resources on page 8 for the appropriate publication.
Refer to
beginning on
for Kinetix 6000 and Kinetix 7000 interconnect diagrams with other Allen-Bradley safety products.
22 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Safe Torque-off Feature
Wiring Your Kinetix Safe Torque-off Drive Chapter 3
The safe torque-off circuit, when used with suitable safety components, provides protection according to EN ISO 13849-1 (PLe), Cat3 or according to EN 62061
(SIL3). The safe torque-off option is just one safety control system. All components in the system must be chosen and applied correctly to achieve the desired level of operator safeguarding.
The safe torque-off circuit is designed to safely turn off all of the output-power transistors. You can use the safe torque-off circuit in combination with other safety devices to achieve the stop and protection-against-restart as specified in
IEC 60204-1.
ATTENTION: This option may be suitable for performing mechanical work on the drive system or affected area of a machine only. It does not provide electrical safety.
SHOCK HAZARD: In Safe Torque-off mode, hazardous voltages may still be present at the drive. To avoid an electric shock hazard, disconnect power to the system and verify that the voltage is zero before performing any work on the drive.
The Kinetix 6000 and Kinetix 7000 drives do not operate without a safety circuit or safety bypass wiring. For applications that do not require the safe torque-off feature you must install jumper wires to bypass the safe torque-off circuitry.
Safe Torque-off Feature Bypass
Each Kinetix 6000 and Kinetix 7000 safe torque-off drive ships with the (9-pin) wiring plug header and motion-allowed jumper. With this wiring header/jumper combination installed in the safe torque-off (STO) connector (default configuration), the safe torque-off feature is not used.
Figure 12 - Wiring Plug Header with Motion-allowed Jumper
1
1 2 3 4 5 6 7 8 9
Motion-allowed Jumper
Wiring Plug Header
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 23
Chapter 3 Wiring Your Kinetix Safe Torque-off Drive
Safe Torque-off Connection Examples
Typical safe torque-off connections for the Kinetix 6000 and Kinetix 7000 drives are shown in the figures below.
In this example, a single Kinetix 6000 safe torque-off drive is shown using the wiring plug header. The second and third drives do not use the safe torque-off feature, so the motion-allowed jumpers remain installed.
Figure 13 - Typical Single Drive Safe Torque-off Configuration
Safe Torque-off Control
Circuit
Wiring Plug Header
Wiring Plug Headers with
Motion-allowed Jumper
Kinetix 6000 or Kinetix 7000 Drives
(Kinetix 6000 drive is shown)
24 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Safe Torque-off
Control Circuit Connections
First-drive Wiring Header
(2090-XNSM-W)
Wiring Your Kinetix Safe Torque-off Drive Chapter 3
In this example, system 1 contains two (single-wide) Kinetix 6000 drives using the safe torque-off feature wired with two (double-wide) Kinetix 6000 drives in system 2. The wiring headers with motion-allowed jumpers have been replaced as shown. The third axis in system 1 does not use the safe torque-off feature, so the wiring header and motion-allowed jumper remain installed.
Figure 14 - Typical Kinetix 6000 Safe Torque-off Configuration
Middle-drive Headers
(2090-XNSM-M)
Last-drive Header
(2090-XNSM-T)
Wiring Plug Header with
Motion-allowed Jumper
Kinetix 6000 Drives
System 1
1202-C02 1202-C10 Drive-to-Drive Safe Torque-off Cables
Kinetix 6000 Drives
System 2
1202-C03
IMPORTANT Due to the current capacity limitation of the safe torque-off cable connectors, multiple safe torque-off drive configurations must not exceed eight
Kinetix 6000 or Kinetix 7000 drive modules.
Cable connections to middle-drive headers (catalog number 2090-XNSM-M) can be made to either connector. Input and output is not specified.
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 25
Chapter 3 Wiring Your Kinetix Safe Torque-off Drive
Safe Torque-off
Control Circuit Connections
In this example, the Kinetix 6000 power rail contains three (single-wide) drives using the safe torque-off feature and wired with one Kinetix 7000 drive. The wiring headers and motion-allowed jumpers have been replaced as shown.
Figure 15 - Typical Kinetix 6000 to Kinetix 7000 Safe Torque-off Configuration
Middle-drive Headers
(2090-XNSM-M)
First-drive Wiring Header
(2090-XNSM-W)
Last-drive Header
(2090-XNSM-T)
1202-C02 1202-C02 Drive-to-Drive Safe Torque-off Cables 1202-C10
Kinetix 6000
Drive
Kinetix 7000
Drive
26
IMPORTANT Due to the current capacity limitation of the safe torque-off cable connectors, multiple safe torque-off drive configurations must not exceed eight
Kinetix 6000 or Kinetix 7000 drive modules.
Cable connections to middle-drive headers (catalog number 2090-XNSM-M) can be made to either connector. Input and output is not specified.
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Wiring Your Kinetix Safe Torque-off Drive Chapter 3
Safe Torque-off Wiring Examples for SIL 3 Applications
The following illustrations show typical wiring diagrams for the Kinetix 6000 and Kinetix 7000 safe torque-off drives:
• Typical single drive (stop category 0) configuration
• Typical single drive (stop category 1) configuration
ATTENTION: Category 1 (controlled stop) must be used and zero speed verified, prior to engaging the motor holding (parking) brake. Disabling the output by any means and engaging the holding brake with the motor in motion will result in premature failure of the brake.
Figure 16 - Single Drive (Stop Category 0) with Safety Relay Configuration
24V Com
24V +
Safety Relay Rated for
SIL 3 per IEC 61508
Estop Out 22
Estop Out 12
Estop IN 11
Estop IN 21
Reset Out 12
Safe Torque-off
Demand
Reset PB
Reset IN 21
Kinetix 6000 IAM/AM Module or
Kinetix 7000 Drive
N.C.
N.C.
7
8
5
6
9
3
4
1
2
FDBK2+
FDBK2-
FDBK1+
FDBK1-
SAFETY ENABLE2+
SAFETY ENABLE -
SAFETY ENABLE1+
24V +
24V_COM
Safe Torque-off
(STO) Connector with
Wiring Header
24V Power Supply
24V+
24V Com
IMPORTANT
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 27
Chapter 3 Wiring Your Kinetix Safe Torque-off Drive
24V Com
24V +
Safety Relay Rated for
SIL 3 per IEC 61508
Figure 17 - Single Drive (Stop Category 1) with Safety Relay Configuration
Kinetix 6000 IAM/AM Module or
Kinetix 7000 Drive
Estop Out 22
Estop Out 12
Estop IN 11
Safe Torque-off
Demand
Estop IN 21
Reset Out 12
Reset PB
Reset IN 21
N.C.
N.C.
5
6
7
8
9
3
4
1
2
FDBK2+
FDBK2-
FDBK1+
FDBK1-
SAFETY ENABLE2+
SAFETY ENABLE -
SAFETY ENABLE1+
24V +
24V_COM
Safe Torque-off
(STO) Connector with
Wiring Header
1
2
I/O (IOD) Connector
Hardware Enable 24V+
Hardware Enable Input
Time Delay Contacts
24V Power Supply
24V+
24V Com
IMPORTANT
28 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Appendix
A
Specifications
This chapter provides safe torque-off feature specifications for your Kinetix 6000 and Kinetix 7000 drives.
Topic
Safe Torque-off Response Time Specifications
Safe Torque-off Signal Specifications
Page
Safe Torque-off Response
Time Specifications
The system 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. Faults within the system can also have an effect upon the reaction time of the system. The safe torque-off response time for the Kinetix 6000 and Kinetix 7000 safe torque-off drives is
25 ms. This is the time from change of state at the drive input to change of state at the drive output.
ATTENTION: The safe torque-off response time is typical of drive performance.
Actual system response time will vary depending on your application.
Safe Torque-off Signal
Specifications
To maintain safety rating, Kinetix 6000 and Kinetix 7000 drives must be installed inside protected control panels or cabinets appropriate for the environmental conditions of the industrial location. The protection class of the panel or cabinet should be IP54 or higher.
Kinetix 6000 (series A and B) and Kinetix 7000 Servo Drives
Table 8 - Relay Coil Specifications for the ENABE Signals
Attribute
Pull-in Voltage
Drop-out Voltage
Coil Resistance
Coil Current
Pull-in Time
Drop-out Time
Nom
24V
—
720
Ω
33.3 mA
25 ms
20 ms
Min
18V
0V
648
Ω
—
—
—
Max
26.4V
2.4V
792
Ω
55.0 mA
—
—
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 29
Appendix A Specifications
Table 9 - Relay Contact Specifications for the FDBK Signals
Attribute
Contact Resistance (1 A, 24V DC)
Contact Resistance (10 mA, 5V DC)
Contact Load (min)
Rated Current
Rated Voltage
Breaking Capacity, ac (max) for resistive loads
Value
≤
100 m
Ω
≤
20
Ω
10 mA, 5V DC
5 A
240V ac
1250VA
Kinetix 6000 (series C) Servo Drives
Table 10 - Safe Torque-off Signal Specifications
Attribute
Input current
Input ON voltage range
Input OFF voltage, max
Input OFF current
Pulse rejection width
External power supply
Input type
Value
< 10 mA
18…26.4V DC
5V DC
2 mA @ V in < 5V DC
700
µ s
SELV/PELV
Optically isolated and reverse voltage protected
For additional information regarding Allen-Bradley safety products, including safety relays, light curtain, and gate interlock applications, refer to the Safety
Products Catalog, website http://www.ab.com/catalogs .
30 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Appendix
B
Kinetix Safe Torque-off Wiring Diagrams
This appendix provides typical wiring diagrams for the Kinetix 6000 and
Kinetix 7000 safe torque-off drives with other Allen-Bradley safety products.
Topic
Kinetix Safe Torque-off/Safety Relay Configurations
Kinetix Safe Torque-off/GuardLogix Configurations
Kinetix Safe Torque-off/GuardPLC Configurations
Page
For additional information regarding Allen-Bradley safety products, including safety relays, light curtains, and gate interlock applications, refer to the Safety
Products Catalog, website http://ab.com/catalogs .
ATTENTION: Category 1 (controlled stop) must be used and zero speed verified, prior to engaging the motor holding (parking) brake. Disabling the output by any means and engaging the holding brake with the motor in motion will result in premature failure of the brake.
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 31
Appendix B Kinetix Safe Torque-off Wiring Diagrams
Kinetix Safe Torque-off/
Safety Relay Configurations
External +24V DC
Safe Torque-off
Demand
In the diagrams beginning below, the Kinetix 6000 and Kinetix 7000 drive safe torque-off connector is shown wired to an Allen-Bradley safety relay.
Figure 18 - Single-axis Relay Configuration (Stop Category 0)
Reset
A1 S11 S52 S12
Allen-Bradley
Monitoring Safety Relay
MSR127RP (440R-N23135)
S21 S22 S34 A2
13
14
23
24
33
34
41
42
Kinetix 6000 IAM/AM Module or Kinetix 7000 Drive
N.C.
N.C.
7
8
9
4
5
6
1
2
3
FDBK2+
FDBK2-
FDBK1+
FDBK1-
SAFETY ENABLE2+
SAFETY ENABLE -
SAFETY ENABLE1+
24V +
24V_COM
Safe Torque-off
(STO) Connector with
Wiring Header
External 24V COM
Figure 19 - Single-axis Relay Configuration (Stop Category 1)
External +24V DC
Safe Torque-off Demand
A1 S52 S11 S12 S21 S22
Reset
Allen-Bradley Monitoring Safety Relay
MSR138.1DP (440R-M23088)
S33 S34 13 23 37 47 55
A2 X1 X2 X3 X4 Y39 Y40 Y2 Y1 14 24 38 48 56
Kinetix 6000 IAM/AM Module or Kinetix 7000 Drive
N.C.
8
N.C.
9
5
6
7
1
2
3
4
FDBK2+
FDBK2-
FDBK1+
FDBK1-
SAFETY ENABLE2+
SAFETY ENABLE -
SAFETY ENABLE1+
24V +
24V_COM
Safe Torque-off
(STO) Connector with
Wiring Header
External 24V COM
1
2
I/O (IOD) Connector
Hardware Enable 24V +
Hardware Enable Input
32 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Kinetix Safe Torque-off Wiring Diagrams Appendix B
External +24V DC
Safe Torque-off
Demand
Figure 20 - Multi-axis Relay Configuration (Stop Category 0)
Reset
A1 S11 S52 S12 13 23 33 41
Allen-Bradley
Monitoring Safety Relay
MSR127RP (440R-N23135)
S21 S22 S34 A2 14 24 34 42
Kinetix 6000 IAM/AM Module or Kinetix 7000 Drive
6
7
4
5
1
2
3
FDBK2+
FDBK2-
FDBK1+
FDBK1-
SAFETY ENABLE2+
SAFETY ENABLE -
SAFETY ENABLE1+
Safe Torque-off
(STO) Connector with
First-drive
Wiring Header
(2090-XNSM-W)
External 24V COM
Safe Torque-off
Interface Cable
1202-C xx
Kinetix 6000 IAM/AM Module or Kinetix 7000 Drive
Safe Torque-off
(STO) Connector with
Middle Header
(2090-XNSM-M)
Safe Torque-off
Interface Cable
1202-C xx
Kinetix 6000 IAM/AM Module or Kinetix 7000 Drive
Safe Torque-off
(STO) Connector with
Terminating Header
(2090-XNSM-T)
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 33
Appendix B Kinetix Safe Torque-off Wiring Diagrams
Figure 21 - Multi-axis Relay Configuration (Stop Category 1)
External +24V DC
Safe Torque-off Demand
A1 S52 S11 S12 S21 S22
Reset
Allen-Bradley Monitoring Safety Relay
MSR138.1DP (440R-M23088)
S33 S34 13 23 37 47 55
Kinetix 6000 IAM/AM Module or
Kinetix 7000 Drive
4
5
6
1
2
3
7
FDBK2+
FDBK2-
FDBK1+
FDBK1-
SAFETY ENABLE2+
SAFETY ENABLE -
SAFETY ENABLE1+
Safe Torque-off
(STO) Connector with
First-drive
Wiring Header
(2090-XNSM-W)
A2 X1 X2 X3 X4 Y39 Y40 Y2 Y1 14 24 38 48 56
External 24V COM
External 24V COM
2
3
I/O (IOD) Connector
Hardware Enable Input
24V_COM
Safe Torque-off
Interface Cable
1202-C xx
2
3
Kinetix 6000 IAM/AM Module or
Kinetix 7000 Drive
Safe Torque-off
(STO) Connector with
Middle Header
(2090-XNSM-M)
I/O (IOD) Connector
Hardware Enable Input
24V_COM
Safe Torque-off
Interface Cable
1202-C xx
2
3
Kinetix 6000 IAM/AM Module or
Kinetix 7000 Drive
Safe Torque-off
(STO) Connector with
Terminating Header
(2090-XNSM-T)
I/O (IOD) Connector
Hardware Enable Input
24V_COM
34 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Kinetix Safe Torque-off Wiring Diagrams Appendix B
Kinetix Safe Torque-off/
GuardLogix Configurations
In these diagrams, the Kinetix 6000 and Kinetix 7000 drive safe torque-off connector is shown wired to an Allen-Bradley GuardLogix controller.
Figure 22 - Single-axis GuardLogix Configuration (Stop Category 0)
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 35
Appendix B Kinetix Safe Torque-off Wiring Diagrams
Figure 23 - Single-axis GuardLogix Configuration (Stop Category 1)
36 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Kinetix Safe Torque-off Wiring Diagrams Appendix B
Figure 24 - Multi-axis GuardLogix Configuration (Stop Category 0)
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 37
Appendix B Kinetix Safe Torque-off Wiring Diagrams
Figure 25 - Multi-axis GuardLogix Configuration (Stop Category 1)
38 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Kinetix Safe Torque-off/
GuardPLC Configurations
Kinetix Safe Torque-off Wiring Diagrams Appendix B
In these diagrams, the Kinetix 6000 and Kinetix 7000 drive safe torque-off connector is shown wired to an Allen-Bradley GuardPLC controller.
Figure 26 - Single-axis GuardPLC Configuration (Stop Category 0)
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 39
Appendix B Kinetix Safe Torque-off Wiring Diagrams
Figure 27 - Single-axis GuardPLC Configuration (Stop Category 1)
40 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Kinetix Safe Torque-off Wiring Diagrams Appendix B
Figure 28 - Multi-axis GuardPLC Configuration (Stop Category 0)
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 41
Appendix B Kinetix Safe Torque-off Wiring Diagrams
Figure 29 - Multi-axis GuardPLC Configuration (Stop Category 1)
42 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Appendix
C
EC Certifications
EC Type - Examination
Certificate
This appendix provides Kinetix 6000 and Kinetix 7000 servo drive certification information.
Topic
EC Type - Examination Certificate
Page
For complete product certifications currently available from Rockwell
Automation, go to http://www.rockwellautomation.com/products/certification .
Figure 30 - Kinetix 6000 Servo Drives Certificate
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 43
Appendix C EC Certifications
Figure 31 - Kinetix 7000 Servo Drives Certificate
44 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
EC Certifications Appendix C
EC Declaration of Conformity
For complete declarations of conformity (DoC) currently available from
Rockwell Automation, go to http://www.rockwellautomation.com/products/certification .
Figure 32 - Kinetix 6000 Servo Drives EC DoC
EC Declaration of Conformity
The undersigned, representing the manufacturer
Rockwell Automation, Inc.
6400 W. Enterprise Drive
Mequon, WI 53092
U.S.A.
and the authorized representative established within the
Community
Rockwell Automation B.V.
Rivium Promenade 160
2909 LM Capelle aan den IJssel
The Netherlands herewith declare that the Products Digital Servo Drives and Accessories Kinetix
6000/6200/6500/6000M
Product identification (brand and catalogue number/part number):
Allen-Bradley Bulletin 2094
(reference the attached list of catalogue numbers)
Product Safety Function: Safe Standstill (Kinetix6000-S products)
Safe Torque-Off (Kinetix6200/6500-S0, Kinetix6000M-S products)
Safe Speed Monitor Option (Kinetix6200/6500-S1 products) are in conformity with the essential requirements of the following EC Directive(s) when installed in accordance with the installation instructions contained in the product documentation:
2006/95/EC Low Voltage Directive
2006/42/EC Machinery Directive and that the standards and/or technical specifications referenced below have been applied:
EN 50178:1997 Electronic equipment for use in power installations
EN 61800-5-1:2007
EN 61800-5-2:2007
EN 61800-3:2004
EN 60204-1:2006/A1:2009
EN 60034-1:2004
EN 61508: Part 1-7:2000
11
EN ISO 13849-1:2008
11
Adjustable speed electrical power drive system – Part 5-1: Safety requirements
– Electrical, thermal and energy.
Adjustable speed electrical power drive systems – Part 5-2: Safety requirements – Functional
Adjustable speed electrical power drive systems – Part 3: EMC requirements and specific test methods
Safety of machinery – Electrical equipment of machines – Part 1: General requirements
Rotating electrical machines – Part 1: Rating and performance (TL, MPF,
MPG, MPL, MPM,MPS, MPAS and RD only)
Functional safety of electrical/electronic/programmable electronic safetyrelated systems
Safety of machinery – Safety-related parts of control systems – Part 1: General principles for design
Year of CE Marking:
Manufacturer:
2002
Authorized Representative in the Community:
Thomas Van Groll
Director Engineering
14-May-2012
Signature
Name:
Position:
Date:
Document Control Number: IMC-0011-X-EN
Signature
Name:
Position:
Date:
Viktor Schiffer
Engineering Manager
15-May-2012
1 / 9
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 45
Appendix C EC Certifications
Catalogue number Series
3
Description
Bulletin 2094 Servo Drives
1,6,11,12,13
2094-BC01-MP5
2094-BC01-M01
460 Volt Integrated Axis Module 6 kW Inverter 2.8 Amp
460 Volt Integrated Axis Module 6 kW Inverter 6.1 Amp
2094-BC02-M02
2094-BC04-M03
2094-BC07-M05
2094-AC05-MP5
2094-AC05-M01
2094-AC09-M02
2094-AC16-M03
2094-AC32-M05
460 Volt Integrated Axis Module 15 kW Inverter 10.3 Amp
460 Volt Integrated Axis Module 28 kW Inverter 21.2 Amp
Yes
Yes
Yes
Yes
460 Volt Integrated Axis Module 45 kW Inverter 34.6 Amp Yes
230 Volt Integrated Axis Module 3 kW Inverter 3.7 Amp
230 Volt Integrated Axis Module 3 kW Inverter 6.0 Amp
230 Volt Integrated Axis Module 6 kW Inverter 10.6 Amp
230 Volt Integrated Axis Module 11 kW Inverter 17.3Amp
230 Volt Integrated Axis Module 23 kW Inverter 34.6 Amp
Yes
Yes
Yes
Yes
Yes
Directive
10
EMC LVD MD
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
2094-BMP5
2094-BM01
2094-BM02
2094-BM03
2094-BM05
2094-AMP5
2094-AM01
2094-AM02
2094-AM03
2094-AM05
2094-SE02F-M00-S0
2094-SE02F-M00-S1
2094-EN02D-M01-S0
2094-EN02D-M01-S1
2094-SEPM-B24-S
2094-PRF
2094-PR1
2094-PR2
2094-PR4
2094-PR6
2094-PR8
460 Volt Axis Module 2.8 Amp
460 Volt Axis Module 6.1 Amp
460 Volt Axis Module 10.3 Amp
460 Volt Axis Module 21.2 Amp
460 Volt Axis Module 34.6 Amp
230 Volt Axis Module 3.7 Amp
230 Volt Axis Module 6.0 Amp
230 Volt Axis Module 10.6 Amp
230 Volt Axis Module 17.3Amp
230 Volt Axis Module 34.6 Amp
Kinetix 6200, CM, SERCOS, safe torque-off
Kinetix 6200, CM, SERCOS, safe speed monitoring
Kinetix 6500, CM, CIP, safe torque-off
Kinetix 6500, CM, CIP, safe speed monitoring
Kinetix 6000M, SERCOS, 460 Volt IDM Power Interface
Module, safe torque-off
Power Rail Slot Filler, no electrical ratings apply
1 Axis Power Rail
2 Axis Power Rail
4 Axis Power Rail
6 Axis Power Rail
8 Axis Power Rail
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes Yes Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes N/R
Yes N/R
Yes N/R
Yes N/R
Yes N/R
Yes N/R
Yes N/R
Yes N/R
Yes N/R
Yes N/R
Yes N/R
Yes N/R
Yes N/R
Yes N/R
Document Control Number: IMC-0011-X-EN 2 / 9
46 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
EC Certifications Appendix C
Figure 33 - Kinetix 7000 Servo Drives EC DoC
Rockwell Automation, Inc.
6400 W. Enterprise Drive
Mequon, Wisconsin 53092 – USA
EC Declaration of Conformity
The undersigned, representing the manufacturer and the authorised representative established within the
Community
Rockwell Automation BV
Rivium 1e Straat, 23
2909 LE Capelle aan den IJssel
Netherlands herewith declare that the Products
Product identification (brand and catalogue number/part number):
Digital Servo Drive and accessories Kinetix 7000
Allen-Bradley Bulletin 2099
(reference the attached list of catalogue numbers)
Product Safety Function: Safe Torque Off are in conformity with the essential requirements of the following EC Directive(s) when installed in accordance with the installation instructions contained in the product documentation:
2006/95/EC Low Voltage Directive
2006/42/EC Machinery Directive and that the standards and/or technical specifications referenced below have been applied:
EN 60034-1:2004
EN 60204-1:2006
EN 61800-3:2004
EN 50178:1997
IEC 61508 Part 1-7:2000
EN ISO 13849-1:2008
Rotating electrical machines – Part 1: Rating and performance
Safety of machinery – Electrical equipment of machines – Part 1: General requirements
Adjustable speed electrical power drive systems – Part 3: EMC requirements and specific test methods
Electronic equipment for use in power installations
Functional safety of electrical/electronic/programmable electronic safetyrelated systems
Safety of machinery – Safety-related parts of control systems – Part 1: General principles for design
Year of CE Marking 2006
Manufacturer: Authorised Representative in the Community:
Signature
Name:
Position:
Date:
Tom Van Groll
Director Engineering
16-Dec-2010
Signature
Name:
Position:
Date:
Viktor Schiffer
Engineering Manager
17-Dec-2010
Document Control Number: IMC-0018-H-EN 1 / 4
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 47
Appendix C EC Certifications
Catalogue number
2
Series
1
Description
Note: The following motor/drive combinations are permitted for the purposes of this declaration.
Bulletin 2099 Drives:
Bulletin 2099 and Bulletin 2090 Filters and Accessories
Cables motors using the MP connector system motors using the MP connector system motors using the MP connector system motors or 8720SM motors using the MP connector system motors or 8720SM motors using the MP connector system, YY = wire gauge, LL = length in meters system, LL = length in meters motors using the MP connector system motors using the MP connector system
48
Document Control Number: IMC-0018-H-EN
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
2 / 4
Index
A
about this publication
C
cables drive-to-drive
catalog, safety products
category 3 requirements
stop category definitions
CE comply with CE
conformity
meet requirements
certification
EC Declaration of Conformity
Kinetix 6000
Kinetix 7000
EC Type - Examination Certificate
Kinetix 6000
Kinetix 7000
TÜV Rheinland
user responsibilities
connector location
pinout
sets
conventions
D
drive-to-drive cables
E
EC Declaration of Conformity
Kinetix 6000
Kinetix 7000
EC Type - Examination Certificate
Kinetix 6000
Kinetix 7000
EMC directive
EN ISO 13849-1 CAT 3 requirements
stop category definitions
enable signal specifications
F
feedback signal specifications
first-drive wiring header
G
GuardLogix examples
GuardPLC examples
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
H
headers
first-drive wiring
last-drive
middle-drive
motion allowed jumper
HFT
wiring plug
L
last-drive header
low voltage directive
M
middle-drive header
motion allowed jumper
P
PFD
PFD and PFH definition
PFH
R
related documentation
response time specifications
S
safe torque-off
bypass wiring
condition
drive fault
operation
PFD and PFH
PFD and PFH definition
safe torque-off feature connector location
connector pinout
connector sets
GuardLogix examples
GuardPLC examples
headers
interface cables
safety relay examples
STO connector
wiring example, stop cat. 0
wiring example, stop cat. 1
wiring requirements
safety products catalog
,
safety relay examples
specifications safe torque-off enable signals
safe torque-off feedback signals
safe-off response time
49
Index
STO connector
wiring
T
terminology
training
troubleshooting
error code E49
flowchart
safe torque-off condition
safe torque-off drive fault
W
wiring
GuardLogix examples
GuardPLC examples
plug header
requirements
safe torque-off bypass
safety relay examples
STO connector
stop cat. 0 example
stop cat. 1 example
50 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Rockwell Automation Support
Rockwell Automation provides technical information on the Web to assist you in using its products.
At http://www.rockwellautomation.com/support , you can find technical manuals, technical and application notes, sample code and links to software service packs, and a MySupport feature that you can customize to make the best use of these tools. You can also visit our Knowledgebase at http://www.rockwellautomation.com/knowledgebase for FAQs, technical information, support chat and forums, software updates, and to sign up for product notification updates.
For an additional level of technical phone support for installation, configuration, and troubleshooting, we offer
TechConnect SM support programs. For more information, contact your local distributor or Rockwell Automation representative, or visit http://www.rockwellautomation.com/support/ .
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.
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.
New Product Satisfaction Return
Rockwell Automation tests all of its products to help ensure that they are fully operational when shipped from the manufacturing facility. However, if your product is not functioning and needs to be returned, follow these procedures.
United States
Outside United States
Contact 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.
Please contact your local Rockwell Automation representative for the return procedure.
Documentation Feedback
Your comments will help us serve your documentation needs better. If you have any suggestions on how to improve this document, complete this form, publication RA-DU002 , available at http://www.rockwellautomation.com/literature/ .
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Publication GMC-RM002F-EN-P - June 2013
Supersedes Publication GMC-RM002E-EN-P - July 2008 Copyright © 2013 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.
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