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GMC-RM002F-EN-P Kinetix Safe Torque

1. S Last drive Header HS 6 2090 5 1 First drive Wiring Header 2090 XNSM W Se Wiring Plug Header with Motion allowed Jumper 1202 02 1202 10 Drive to Drive Safe Torque off Cables 1202 C03 Kinetix 6000 Drives a Kinetix 6000 Drives B System 1 E E System 2 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 X NSM M can be made to either connector Input and output is not specified Rockwell Automation Publication GMC RMOO2F EN P June 2013 25 Chapter3 Wiring Your Kinetix Safe 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
2. d wey sis de lt A 50 1315 C gt T T Safe Torque off a I guru 510 Connector LI a H num I L1 D adi II e Cre a_i gt I I gt a_i LID 5 Eee Ree POGUE ano 8 GPR Kinetix 7000 Drive Module View 2099 BM06 S is shown 16 Rockwell Automation Publication GMC RMOO2F EN P June 2013 Safe Torque off Header Configurations Kinetix 6000 or Kinetix 7000 Drive Kinetix 6000 axis module is shown Kinetix 6000 or Kinetix 7000 Drive Kinetix 6000 axis module is shown 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 modul
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4. 2 WO Nr indus s 1411 LAL N 7 g 001 0 1 880X88l SQ16ZL amp 0 1 LS LTIGVN3 ALHVS AU T L 300 5 WoW n M WSNX 0602 318 33 5 V Japeay 5 1814 711803 v V yim 916604 xibo j03u0 10p uu0 015 5 jjo anbio ayes ou j 0904 2 0004 WY WYI 0009 Appendix 1 461 961 105592014 lt 191 96 1 Rockwell Automation Publication GMC RMOO2F EN P June 2013 38 Appendix Kinetix Safe Wiring Diagrams In these diagrams the Kinetix 6000 and Kinetix 7000 drive safe torque off connector is shown wired to an Allen Bradley GuardPLC controller Kinetix Safe Torque off GuardPLC Configurations Figure 26 Single axis GuardPLC Configuration Stop Category 0 10122UU0 015 Jjo anbioy ayes WO NC 13183 134 5 puewaq Jjo anbio aes C JI8VN3 1335 3318 ALIAS 11804 1190 01804 01905 ang 000 10 ajnpow WY WYI 0009
5. 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 prior to engaging the motor holding parking brake Disabling the output by ATTENTION Category 1 controlled stop must be used and zero speed verified 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 Kinetix 6000 Module or Kinetix 7000 Drive res 1 24V Com Estop Out 22 FDBK2 2 FDBK2 24V Estop Out 12 3 Safe Torque off FDBK1 Demand 4 Safe Torque off Estop IN 11 5 FDBK1 STO Connector SAFETY ENABLE2 Estop IN 21 6 iring Header 25 SAFETY ENABLE 7 Reset Out 12 SAFETY ENABLE1 Reset PB Nc 8 241 Reset IN 21 9 NC MV 24V Power Supply 4 2414 24V Com IMPORTANT PinsSTO 8 internal 24V supply and 510 9 24 are used only by the motion allowe
6. 20 ly OV BE LE 98 GE 662616 08 62 86 LC 90 SZ 70622012006 110 61 8L 1 1 191 81 1 21451 12 LL OL 647 731 8 9 6 9 Id Id Id Id 2 8 sindu OG 02 188821 6971 0091 pieno 00 21 20 WO Ave 20 39 Rockwell Automation Publication GMC RMOO2F EN P June 2013 Kinetix Safe Torque off Wiring Diagrams Appendix B Figure 27 Single axis GuardPLC Configuration Stop Category 1 WO ynduy ajqeu3 gjo anbio ayes 000 WY WYI 0009 10p uu0 001 0 1 WO FLTISVN3 AL3VS dapes 318011 ALVS 10 0 015 13804 Jjo anbio ayes 804 04404 0404 COUE lv Ob GE BE LE 965676 CE LE 06 6280 C 90 SZ vc EZ 06 0000 0000 710061 81 51 1914171 61451 1011101 651 182 10 Id Id sindino 2 8 syndu 02 88821 6971 0091 12 02 6 9941 17 2 1
7. 24 Safe Torque off Wiring Examples for SIL 3 Applications 27 Appendix A Safe Torque off Response Time 29 Safe Torque off Signal Specifications 88 29 Kinetix 6000 series A and B and Kinetix 7000 Servo Drives 29 Kinetix 6000 series C Servo 30 Rockwell Automation Publication GMC RMOO2F 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 Type Examination 43 EC Declaration of Conformity 45 Index Rockwell Automation Publication GMC RMOO2F EN P June 2013 About This Publication Audience Conventions Used in This Manual Terminology Preface 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
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9. 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 Page 15 Safe Torque off Header Configurations 17 Safe Torque off Accessories 20 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 IMPORTANT Safe Torque off Also Applies to These Description Signal STO Connector Pin STO Connector Headers 1 One side of the normally closed monitoring contact of relay 2 FDBK2 2 Other side of the normally closed monitoring contact of relay 2 FDBK2 3 Wiring plug header used in One side of the normally closed monitoring contact of relay 1 FDBK1 single drive applications 4 First drive wiring header Other side of the normally closed monitoring contact of relay 1 FDBK1 2090 XNSM W used in 5 multiple drive applications Safety enable 2 input SAFETY ENABLE2 6 Return for safety enable power both inputs SAFETY ENABLE 7 Safety enable 1 input SAFETY ENABLET 8 Wiring plug header Output power for continuous enable of the safety function 500 mA max 24V 9 Motion allowed jumper Output power return used for continuous enable of safety fun
10. Typical Kinetix 6000 to Kinetix 7000 Safe Torque off Configuration l Middle drive Headers 2090 XNSM M ji First drive Wiring 2090 XNSM W Kinetix 6000 Drive 26 200002 8 Last drive Header 2090 5 1202 C02 1202 002 Drive to Drive Safe Torque off Cables 1202 C10 23 8 Kinetix 7000 Drive 8 1060 n 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 RMOO2F EN P June 2013 Safety Relay Rated for SIL3 per IEC 61508
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12. 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 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 Product Standard including specific test methods EN 61326 3 1 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 RMOO2F EN P June 2013 Description of Operation PFD and PFH Specifications 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
13. 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 Wiring Plug Header Circuit Wiring Plug Headers with Motion allowed Jumper OOOOOOOHE z 68 9 8 92 7 aji Kinetix 6000 Kinetix 7000 Drives Kinetix 6000 drive is shown Rockwell Automation Publication GMC RMOO2F EN P June 2013 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 Safe Torque off Control Circuit Connections 1 a Middle drive Headers gt 2090 XNSM M
14. Certificate Kinetix 6000 43 Kinetix 7000 44 TUV Rheinland 9 user responsibilities 9 connector location 16 pinout 15 sets 20 conventions 7 D drive to drive cables 25 26 EC Declaration of Conformity Kinetix 6000 45 Kinetix 7000 47 EC Type Examination Certificate Kinetix 6000 43 Kinetix 7000 44 EMC directive 10 EN ISO 13849 1 CAT 3 requirements 10 stop category definitions 10 enable signal specifications 29 F feedback signal specifications 30 first drive wiring header 18 G GuardLogix examples 35 GuardPLC examples 39 Rockwell Automation Publication GMC RMOO2F EN P June 2013 Index headers 20 first drive wiring 18 last drive 19 middle drive 19 motion allowed jumper 17 wiring plug 17 7 L last drive header 19 low voltage directive 11 M middle drive header 19 motion allowed jumper 17 P PFD7 PFD and PFH definition 11 7 R related documentation 8 response time specifications 29 5 safe torque off 22 bypass wiring 23 condition 13 drive fault 13 Operation 11 PFD and PFH 11 PFD and PFH definition 11 safe torque off feature connector location 16 connector pinout 15 connector sets 20 GuardLogix examples 35 GuardPLC examples 39 headers 20 interface cables 20 safety relay examples 32 STO connector 23 wiring example stop cat 0 27 wiring example stop cat 1 28 wiring requirements 22 safety products catalog 30 31 safety relay examples 32
15. 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 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 operati
16. FDBK2 510 3 FDBK1 510 4 FDBK1 510 5 SAFETY ENABLE2 0 75 18 1 5 16 7 0 0 275 0 235 2 0 510 6 SAFETY ENABLE 510 7 SAFETY ENABLE1 510 8 241 510 9 24V_COM IMPORTANT Pins 570 8 internal 24V supply and STO 9 24V 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 IMPORTANT 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 Appendix B beginning on page 31 for Kinetix 6000 and Kinetix 7000 interconnect diagrams with other Allen Bradley safety products 22 Rockwell Automation Publication GMC RMOO2F 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 a
17. Relay Configurations 32 Kinetix Safe Torque off GuardLogix Configurations 35 Kinetix Safe Torque off GuardPLC Configurations 39 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 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 ATTENTION Category 1 controlled stop must be used and zero speed verified Rockwell Automation Publication GMC RMOO2F EN P June 2013 31 Appendix Kinetix Safe Torque off Safety Relay Configurations Kinetix Safe Torque off Wiring Diagrams 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 External 24V DC Safe Torque off Demand Kinetix 6000 Module or Kinetix 7000 Drive FDBIO4 FDBK2 Allen Bradley Monitoring Safety Relay FDBK14 MSR127RP 440R N23135 Safe Torque off FDBK1 STO Connector with SAFETY ENABLE2 Wiring Header SAFETY ENABLE External 24V COM External
18. 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 2004 108 EC 2006 42 EC Low Voltage Directive EMC Directive Machinery Directive and that the standards and or technical specifications referenced below have been applied EN 50178 1997 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 1 7 2000 1 ISO 13849 1 2008 Electronic equipment for use in power installations 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 RD only Functional safety of electrical electronic programmable electronic safety related systems Safety of machinery Safety related parts of control systems Part 1 General principles for design Year of CE Marking 2002 Manufacturer
19. Trademarks not belonging to Rockwell Automation are property of their respective companies New and Updated Information Summary of Changes This manual contains new and updated information This revision includes changes for the Kinetix 6000 series C servo drives Topic Page Updated references to safe off 50 as safe torque off STO per EN 61800 5 2 Throughout Replaced references to EN 954 1 with EN ISO 13849 1 this manual Updated safe torque off descriptive text including certification description of operation and 9 12 PFD PFH definitions and data Updated European Union Directives and moved from chapter 3 to chapter 1 10 Updated Safe Torque off Interface Cables table with 1202 30 3 m 9 8 ft cable Added Safe Torque off Headers table Added safe torque off specifications for Kinetix 6000 series C drives 30 Added EC Certifications appendix that includes examination certificate and declaration of conformity 43 for Kinetix 6000 Kinetix 7000 drives Rockwell Automation Publication GMC RMOO2F EN P June 2013 Summary of Changes Notes 4 Rockwell Automation Publication GMC RMOO2F EN P June 2013 Safety Concept and Troubleshooting Safe Torque off Connector Data Wiring Your Kinetix Safe Torque off Drive Specifications Table of Contents Preface About This Publication s eese be eue he eves eR caches 7 TUI MP EINE 7 Conventions Used in This Manu
20. and Inverter Combined and Axis Modules Inverter Only 460 V Family 2034 8 01 5 5 2094 8 01 01 5 2034 8 02 02 5 2094 5 07 05 5 2094 8 04 03 5 2094 5 5 2094 8 01 5 2094 BM02 5 2034 8 03 5 2094 8 05 5 230 V Family 2034 05 5 5 2084 05 01 5 2034 05 02 5 2094 AC 16 M03 S 2094 32 05 5 2094 AMP5 S 2034 01 5 2094 02 5 2094 03 5 2094 05 5 Codes and standards EN 61800 5 2 2007 EN 62061 2005 AC 2010 forming the basis of testing EN 61800 5 1 2007 extracts EN 60204 1 2006 1 2009 AC 2010 In EN 61800 3 2004 extracts EN ISO 13845 1 2006 2009 61508 Parts 1 7 2010 Ll M ___C_CCClCCCCCC_ intended application The Integrated safety function Safe Torque within the Frequency AC Drives Kinetix 5000 complies the requirements of the relevant standards Cat 3 PL e acc to EN ISO 13549 1 SILCL 3 ace to EN 62061 61800 5 2 IEC 61508 and can be used In applications up to Cat 3 PL d to EN ISO 13849 1 SIL 2 to EN 62061 IEC 61508 Specific requirements The instructions of the associated Installation and Operating Manus shail be considered It Is confirmed tnat the product under test compiles with tne requirements for machines defined in Annex of the EC Directive 2006 42 EC This certificate is valid unti 2018 02 14 The issue of this certificate is based upon an examination w
21. eae oroe normal operation Both inputs de energized Mi i donde Safe Torque off condition exists through within 100 ms of each other ismatch occurred outside normal operation Both inputs de energized of the 100 ms response time within 100 ms of each other Resolve safe torque off condition Drive Status Indicator Steady Red DriveHardFault and Axis Shutdown Resolve safe torque off condition Complete MSF instruction in RSLogix 5000 software Resolve safe torque off fault Complete MASR instruction MSO instruction or next program step 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 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 2 14 Rockwell Automation Publication GMC RMOO2F EN P June 2013 Safe Torque off Connector Pinout Safe Torque off Connector Data Chapter 2
22. 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 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 This table defines acronyms used throughout this manual Acronym Full Term Definition European Standards EN specifications developed by the European Committee for a European Norm Standardization for the European Union 10 International Organization for Voluntary organization whose members are recognized authorities on standards each one Standardization representing a different country intentional Electrotechnical Non profit non governmental international standards organization that prepares and IEC Comimissi publishes international standards for all electrical electronic and related technologies ommission collectively known as electrotechnology PL Performance Level EN ISO 13849 1 safety rating SIL Safety Integrity Level The measure of a products ability to lower the risk that a dangerous failure could o
23. safe torque off drive connections Topic Page Wire the Safe Torque off Circuit 21 Safe Torque off Wiring Requirements 22 Safe Torque off Feature 23 Wire the Safe Torque off This section provides guidelines for wiring your Kinetix 6000 and Kinetix 7000 safe torque off drive connections Circuit IMPORTANT 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 PinsSTO 8 internal 24V supply and 510 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 RMOO2F EN P June 2013 21 Chapter3 Wiring Your Kinetix Safe Torque off Drive Safe Torque off Wiring These are the safe torque off STO wiring requirements Wire should be copper Requirements with 75 C 167 F minimum rating IMPORTANT The National Electrical Code and local electrical codes take precedence over the values and methods provided Table 7 Safe Torque off STO Connector Safe Torque off STO Connector Recommended Wire Size Strip Length Torque Value Pin Signal Stranded Wire Solid Wire mm in Pn bs with Ferrule mm AWG mm AWG STO 1 FDBK2 510 2
24. specifications safe torque off enable signals 29 safe torque off feedback signals 30 safe off response time 29 49 Index 50 STO connector 23 wiring 22 T terminology 7 training 7 troubleshooting 12 error code E49 12 flowchart 14 safe torque off condition 13 safe torque off drive fault 13 W wiring GuardLogix examples 35 GuardPLC examples 39 plug header 17 requirements 22 Safe torque off bypass 23 safety relay examples 32 STO connector 22 stop cat 0 example 27 stop cat 1 example 28 Rockwell Automation Publication GMC RMOO2F 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 support programs For more information contact your local distributor or Rockwell Automation representative or visit http www rockwellautomation com support I
25. 0 ually 00 WO 04 30 Rockwell Automation Publication GMC RMOO2F EN P June 2013 40 Appendix Kinetix Safe Wiring Diagrams Figure 28 Multi axis GuardPLC Configuration Stop Category 0 W WSNX 0602 L WSNX 0602 a DpIlN 0 0011 Japeay ies Veau 015 ayes 3 19 5 10 ayes 000 10 WY WYI 0009 000 10 WY WYI 0009 XX C0CL 916 VEU Jjo anbioy aes 20 OV GE BE LE 98 GE 06 CELE 0E 6 80 10 9040 vc EZ 06 1 9 7102 61 81 ZL S1 191 81 91614561 12110 63581 182 0261 8L ZL 9L SL vL EL 848119 8 21381 10 10 10 10 10 sindino Od 8 OG 0 188821 6471 3131883 134 5 0091 uwaABNws 2 1 M WSNX 0602 00 ULIM 331873 ALIAS 5 9AUp 151 2180
26. 000 drives Drive to drive safety cable 3 m 9 8 ft for any connections requiring additional cable length within 1202 30 the system enclosure IMPORTANT Dueto 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 Cat No 2094 05 5 2094 09 02 5 2094 5 5 2094 01 5 2094 02 5 Description 2094 16 03 5 2094 AC32 M05 S 2094 AM03 S 2094 05 5 2094 04 03 5 2094 BM03 S Includes motor power motor resistive brake BC and safe torque off STO replacement connectors for the IAM 2094 01 5 2094 02 02 5 inverter and modules 2094 BMP5 S 2094 BMO1 S 2094 BM02 5 2094 07 05 5 2094 BM05 S 2099 K7KCK 1 20 Kinetix 7000 High Power Drives 2099 BMxx S Includes safe torque off STO general purpose 1 0 GPIO general purpose relay GPR and control power CP replacement connectors for Kinetix 7000 drives Rockwell Automation Publication GMC RMOO2F EN P June 2013 Chapter 3 Wiring Your Kinetix Safe Torque off Drive This chapter provides guidelines for wiring your Kinetix 6000 and Kinetix 7000
27. 0c 6l 8L a p 001 0 1 06181151 19191 01 1 51 1211101 6491 18 9 8841 71 v Z 1 1 Id Id Id Id Id sindino 2a 8 2402 wagee1 eS2 b LTTAWNA 133 5 udi Mb dd pieno e peug ually 3I8VN3 9 00 M WSNX 0607 18 ALJJYS Japeay 5 1514 1803 10122UU0 015 11904 Jjo anbioy ayes X0 Ac WOD 7804 L Aiddns samog 000 X NC 9 npow WY WYI 0009 Rockwell Automation Publication GMC RMOO2F EN P June 2013 42 Appendix C EC Type Examination Certificate EC Certifications This appendix provides Kinetix 6000 and Kinetix 7000 servo drive certification information EC Type Examination Certificate EC Declaration of Conformity 45 For complete product certifications currently available from Rockwell Automation go to http www rockwellautomation com products certification Figure 30 Kinetix 6000 Servo Drives Certificate A T VRheinland ZERTIFIKAT EC Type Examination Certificate CERTIFICATE Reg No 01 205 5287 13 Product tested Safety Function Safe Torque Certificate holder Rockwell Automation STO within tne adjustable Frequency 6400 West Enterprise Drive AC Drives ee WI 53092 Type designation Kinetix 6000 series C Safe Off AC Manufacturer see certficate holder Servo Drive Integrated Axis Modules Converter
28. 24V DC SAFETY ENABLE1 24V 24V_COM Figure 19 Single axis Relay Configuration Stop Category 1 Safe Torque off Demand a Allen Bradley Monitoring Safety Relay MSR138 1DP 440R M23088 Kinetix 6000 IAM AM Module or Kinetix 7000 Drive External 24V COM 32 Rockwell Automation Publication GMC RMOO2F EN P June 2013 FDBK24 FDBK2 FDBK1 FDBK1 Safe Torque off SAFETY ENABLE2 510 Connector SAFETY ENABLE Wiring Header SAFETY ENABLE1 24V COM 1 0 100 Connector Hardware Enable 24V Hardware Enable Input Kinetix Safe Torque off Wiring Diagrams Appendix Figure 20 Multi axis Relay Configuration Stop Category 0 External 24V DC Safe Torque off Demand 2 20 41 Reset Kinetix 6000 Module or Kinetix 7000 Drive 1 FDBK2 2 FDBK2 3 Allen Bradley 4 PRONE Safe Torque off Monitoring Safety Relay FDBK1 STO Connector MSR127RP 440R N23135 5 with SAFETY ENABLE2 First drive 6 Wiring Header SAFETY ENABLE 2090 XNSM W 7 SAFETY ENABLET Exte
29. 4 2 m y 21 10 0 015 1804 Jjo anbio ayes t add z 73901 2 Ave WOD 9110 0004 10 Av7 WY WYI 0009 4 Rockwell Automation Publication GMC RMOO2F EN P June 2013 Figure 29 Multi axis GuardPLC Configuration Stop Category 1 Kinetix Safe Torque off Wiring Diagrams Appendix B WO WO ajqeuq ajqeu3 C C 10 001 0 1 10p uu0 101 0 1 W WSNX 0602 I WSNX 0602 20294107 015 09 0001 20129440 015 4yo anbioy ayes 9142 1 ayes puewag Jjo anbio ayes gjo anbio ayes ang 0007 10 000 10 WY WYI 0009 00 001 a npow WY WYI 0009 aepiayuy Jjo anbio ayes TA MA WwW WO Mt t 1 7 o 16 9 ve 1606 62 42 X S e K
30. Authorized Representative in the Community SIDA rm 5 Signature Signature Name Thomas Van Groll Name Viktor Schiffer Position Director Engineering Position Engineering Manager Date 14 May 2012 Date 15 May 2012 Document Control Number IMC 0011 X EN 1 9 Rockwell Automation Publication GMC RMOO2F EN P June 2013 45 Appendix 46 EC Certifications Catalogue number Series Description 611 12 Bulletin 2094 Servo Dri Rockwell Automation Directive EMC LVD MD 2094 01 5 460 Volt Integrated Axis Module 6 kW Inverter 2 8 Amp 2094 01 01 2094 BC02 M02 460 Volt Integrated Axis Module 6 kW Inverter 6 1 Amp 460 Volt Integrated Axis Module 15 kW Inverter 10 3 Amp 2094 BC04 M03 460 Volt Integrated Axis Module 28 kW Inverter 21 2 Amp 2094 07 05 2094 05 5 460 Volt Integrated Axis Module 45 kW Inverter 34 6 Amp 230 Volt Integrated Axis Module 3 kW Inverter 3 7 Amp 2094 05 01 230 Volt Integrated Axis Module 3 kW Inverter 6 0 Amp 2094 09 02 230 Volt Integrated Axis Module 6 kW Inverter 10 6 Amp 2094 16 03 230 Volt Integrated Axis Module 11 kW Inverter 17 3 2094 32 05 230 Volt Integrated Axis Module 23 kW Inverter 34 6 Amp 2094 5 460 Volt Axis Module 2 8 Amp 2094 01 2094 BM02 460 Volt Axis Module 6 1 Amp 460 Volt Axis Module 10 3 Amp 2094 BM03 460 Vo
31. C Rockwell Automation EC Declaration of Conformity The undersigned representing the manufacturer and the authorised representative established within the Community Rockwell Automation Inc Rockwell Automation BV 6400 W Enterprise Drive Rivium Ie Straat 23 Mequon Wisconsin 53092 USA 2909 LE Capelle aan den IJssel Netherlands herewith declare that the Products Digital Servo Drive and accessories Kinetix 7000 Product identification brand and Allen Bradley Bulletin 2099 catalogue number part number 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 2004 108 EC EMC Directive 2006 42 Machinery Directive and that the standards and or technical specifications referenced below have been applied EN 60034 1 2004 Rotating electrical machines Part 1 Rating and performance EN 60204 1 2006 Safety of machinery Electrical equipment of machines Part 1 General requirements EN 61800 3 2004 Adjustable speed electrical power drive systems Part 3 EMC requirements and specific test methods EN 50178 1997 Electronic equipment for use in power installations IEC 61508 Part 1 7 2000 Functional safety of electrical electronic programmable electronic safety relate
32. Information on controlling devices on the DeviceNet network DeviceNet Safety User Manual publication 179105 0 001 Information on installing and configuring the 1791DS Series modules System Design for Control of Electrical Noise Reference Manual publication GMC RM001 EMC Noise Management DVD GMC SP004 Information examples and techniques designed to minimize system failures caused by electrical noise Rockwell Automation Configuration and Selection Tools website website http ab com e tools Online product selection and system configuration tools including AutoCAD DXF drawings Rockwell Automation Product Certification website http rockwellautomation com products certification For declarations of conformity DoC currently available from Rockwell Automation Safety Products Catalog website http ab com catalogs Information regarding Allen Bradley safety products Application Considerations for Solid State Controls publication SGI 1 1 A description of important differences between solid state programmable controller products and hard wired electromechanical devices Safety of Machinery Safety Related Parts of Control Systems standard EN 954 1 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 t
33. NT _ Donotuse the first drive 2090 XNSM W wiring header in single drive applications Figure 9 First drive Wiring Header Pin Assignment GP 0 1 2345 67 Q9 O9 09 99 99 09 OF 18 Rockwell Automation Publication GMC RMOO2F EN P June 2013 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 Kinetix 6000 or Kinetix 7000 Drive Kinetix 6000 axis module is shown IMPORTANT Nextand 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 Ro
34. NVLYOdWI Lf RE a yo anbioy ayes Y WO Ape 19 115 19 19 15 19 115 119 19 19 LL OL LL OL 01109 09 A 4 9 1 0 m 3nduj H 001 0 1 880X88l SQL6ZL a pow 0 1 9 WO 6 JN AV YN L318VN3 AL3HVS L 20 NC JO NC 1 1 5 118 3 AL3JVS 9 1 18 5 13804 015 1 Jyo anbioy ayes mo Sisseu 3 1804 4 0803 i 0002 10 a npow WV WVI 0009 39 2 8 0 95 1 461 96 1 105592014 xibo pyenb 91 95 Rockwell Automation Publication GMC RMOO2F EN P June 2013 36 Appendix Kinetix Safe Wiring Diagrams Figure 24 Multi axis GuardLogix Configuration Stop Category 0 10 TOOWN SALOZL jenuey 4951 LS au pue FOOWN LING vore qnd jenuey Jasp 15 0800 0006XI60 5 ay 0 aq 15 j9 041u02 ay 01551 0 pue 2160 49404 LNVLYOdWI W WSNX 0602 L WSNX 0602 Japeay
35. Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation NV Pegasus Park De Kleetlaan 12a 1831 Diegem Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication GMC RMOO2F EN P June 2013 Supersedes Publication GMC RMOO2E EN P July 2008 Copyright 2013 Rockwell Automation Inc All rights reserved Printed in the U S A
36. Safety Reference Manual Allen Bradley Kinetix Safe Torque off Feature Catalog Numbers 2094 5 2094 5 2094 5 2094 5 2099 5 21 ua mE Original Instructions Allen Bradley Rockwell Software Automation 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 base
37. ace Cable 1202 0 24V_COM Kinetix 6000 IAM AM Module Kinetix 7000 Drive Safe Torque off STO Connector with Terminating Header 2090 XNSM T 1 0 100 Connector Hardware Enable Input 34 Rockwell Automation Publication GMC RMOO2F EN P June 2013 24V COM Appendix Kinetix Safe Wiring Diagrams 10 TOOWN SALOZL jenuey LS INDIAI 941 pue FOOWN LING uone gnd jenuey 156 010 000 lt 1801 I4 0 JaJay aq 15 Jo 043u02 ay Jo 2160 49904 LNVLYOdWI T puewaq Ppa jjo anbio ayes WO WO u 01 an 880X88l SQL6ZL 0 1 Ayes 9 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
38. al spes buried 7 0 coe aedes ester Rb 7 Additional Resources Secure eve E AU EPI I P Rut 8 Chapter 1 Certification 9 Important Safety 5 9 Category 3 Requirements According to ISO 13849 1 10 Stop Category Definition cepissent T PO e e EE 10 European Union Directives ane re EN NR A BERE I unda 10 CE Ira ur e ei RV IS TRE 10 Iu espoir 10 Low Voltage Directive PERI 11 11 PFD and PFH Specifications 11 e SS 12 com ei e es oa tis arte eti edis i at 12 Understanding the Safe Torque off Condition vs Drive Fault 13 Chapter 2 Sate Torque off Connector 15 Safe Torque off Header 17 Safe Torque off Accessories ovp wo petu cdd urs 20 Chapter 3 Wire the Safe Torque off Circuits o eae ee be e s 21 Safe Torque off Wiring 22 Safe Torque off Feature sexx t a e cus reena 23 Sate Torque off Feature Bypass 65 23 Safe Torque off Connection
39. ance Level 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 e 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 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 _ Inthe event ofa 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
40. ccur PFD Probability of Failure on Demand The average probability of a system to fail to perform its design function on demand PFH Probability of Failure per Hour The probability of a system to have a dangerous failure occur per hour Equals where N 1 faults could cause the loss of the safety function A hardware fault HFT Hardware Fault Tolerance tolerance of 1 means that 2 faults are required before safety is lost 510 Safe Torque off Functional safety feature that complies with IEC 61800 5 2 IGBT Insulated Gate Bi polar Transistors Typical power switch used to control main current Rockwell Automation Publication GMC RMOO2F EN P June 2013 7 Preface Additional Resources Automation products Resource Kinetix 6000 Multi axis Servo Drive User Manual publication 2094 UM001 These documents contain additional information concerning related Rockwell 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 Kinetix 7000 High Power Servo Drive User Manual publication 2099 UM001 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
41. chieve the stop and protection against restart as specified in IEC 60204 1 ATTENTION This option may be suitable for performing mechanical work on N 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 Motion allowed Jumper Wiring Plug Header Rockwell Automation Publication GMC RMOO2F EN P June 2013 23 Chapter 3 24 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
42. ckwell Automation Publication GMC RMOO2F EN P June 2013 19 Chapter2 Safe Torque off Connector Data Safe Torque off Accessories Cat No 2094 XNINV 1 2094 ANINV 2 2094 XNINV 1 2094 BNINV 2 Drive Module Kinetix 6000 IAM and AM Modules 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 Cat No Safe Torque off wiring header for the first drive in multiple safety drive configurations 2090 XNSM W optional Safe Torque off middle header for drive to drive connections in multiple safety drive 2090 XNSM M configurations with three or more drives optional oa terminating header for the last drive in multiple safety drive configurations 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 Description 1202 C02 Drive to drive safety cable 200 mm 7 9 in for connecting single wide Kinetix 6000 axis modules 1202 C03 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 1202 C10 e Kinetix 6000 power rail and Kinetix 7000 drive Two Kinetix 6000 power rails Two Kinetix 7
43. ction 24V_COM 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 RMOO2F EN P June 2013 15 Chapter2 _ Safe Torque off Connector Data Figure 4 9 Safe Torque off STO Connector Kinetix 6000 Drive 4 3 Safe Torque off STO Connector 1 HHHH 2 8 123456 CONT EN DBRK 6 8L9 G 2 ejeteleletsle ele Integrated Axis Module IAM Top View Axis Module AM Top View 2094 BC01 MP5 S is shown 2094 BMP5 S is shown Figure 5 9 Safe Torque off STO Connector Kinetix 7000 Drive T 23456789
44. d 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 RMOO2F EN P June 2013 27 Chapter3 Wiring Your Kinetix Safe Drive Figure 17 Single Drive Stop Category 1 with Safety Relay Configuration Kinetix 6000 IAM AM Module or Safety Relay Rated for 5113 per IEC 61508 Kinetix 7000 Drive ry 1 T Estop Out 22 FDBK2 2 I __ FDBK2 24V Estop Out 12 3 Safe Torque off FDBK1 Demand 4 Estop IN 11 FDBK1 Safe Torque off SAFETY ENABLE2 or Connector Estop IN 21 6 wit 49 SAFETY ENABLE Wiring Header 7 Reset Out 12 mm SAFETY ENABLE1 Reset PB NC 8 24V Reset IN 21 NC 9 24V_COM T lt 1 0 100 Connector 1 js Hardware Enable 24V 2 p Hardware Enable Input Time Delay Contacts 24V Power Supply 24V e 24V Com IMPORTANT PinsSTO 8 internal 24V supply and 510 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 f
45. d 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 gt gt gt gt 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
46. d systems EN ISO 13849 1 2008 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 SAM Signature Signature Name Tom Van Groll Name Viktor Schiffer Position Director Engineering Position Engineering Manager Date 16 Dec 2010 Date 17 Dec 2010 Document Control Number IMC 0018 H EN 1 4 Rockwell Automation Publication GMC RMOO2F EN P June 2013 47 AppendixC Certifications Rockwell Automation Catalogue number Series Description Note The following motor drive combinations are permitted for the purposes of this declaration Bulletin 2099 Drives 2099 BM06 S 30 HP Servo drive 2099 07 5 2099 08 5 2099 BM09 S 75 HP Servo drive 2099 10 5 100 HP Servo drive 2099 BM11 S 150 HP Servo drive 2099 BM12 S 200 HP Servo drive Bulletin 2099 and Bulletin 2090 Filters and Accessories 2090 XXLF TC336 Line filter 3 phase 36 Ampere 2090 XXLF TC350 Line filter 3 phase 50 Ampere 2090 XXLF TC365 Line filter 3 phase 65 Ampere 2090 XXLF TC3100 Line filter 3 phase 100 Ampere 2090 XXLF TC3150 Line filter 3 phase 150 Ampere 2090 XXLF TC3200 Line filter 3 phase 200 Ampere 2090 XXLF TC3250 Line filter 3 phase 250 Ampere Cables 2090 XXNFMP Sxx Motor feedback cable for MPL motors or 1326AB motors or 87205 motors using the MP con
47. e 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 7 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 e 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 Ifbit 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 safe test2 DriveStatus 11 0 Decimal safe test2 DriveStatus 12 0 Decimal safe test2 DriveStatus 13 1 Decimal safe tesi2 DriveStatus 14 0 Decimal safe test2 DriveStatus 15 0 Decimal 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 safe_test2 vertravellnputStatus 0 Decimal safe test2 Enab
48. e 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 Safe Torque off STO Connector 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 Safe Torque off terminals for input wiring STO 1 STO 7 Wiring Plug Header Rockwell Automation Publication GMC RMOO2F EN P June 2013 7 Chapter2 _ Safe Torque off Connector Data 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 first drive 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 Kinetix 6000 or Kinetix 7000 Drive Kinetix 6000 axis module is shown Safe Torque off terminals for input wiring STO 1 STO 7 IMPORTA
49. es 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 Troublesh ooting 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 Error Fault Message RSLogix 1 Code HIM Problem or Symptom Potential Cause Possible Resolution Loose wiring at safe torque off STO connector Verify wire terminations cable header rt Cable header not seated properly in safe connections and 24V E49 2 1 torque off STO connector Reset error and run proof test Safe o t 1 5 Safe off circuit missing 24V DC If error persists return the drive to Rockwell Automation 12 ATTENTION After troubleshooting a proof test must be performed to verify correct operation Rockwell Automation Publication GMC RMOO2F 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 respons
50. gral part of this certificate The holder of a valid licence certificate for the product tested is authorized to affix the test mark shown opposite 10 products which are identical with the product Berlin 2009 11 25 l Ing Eberhard Frejno Rockwell Automation Publication GMC RMOO2F EN P June 2013 haurie 12103 Germany 81 30 7582 1557 49 301 1562 1370 Certifications Appendix 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 Rockwell Automation EC Declaration of Conformity ufacturer and the authorized representative established within the The undersigned representing the Rockwell Automation Inc 6400 W Enterprise Drive Mequon WI 53092 U S A herewith declare that the Products Product identification brand and catalogue number part number Product Safety Function Community Rockwell Automation B V Rivium Promenade 160 2909 LM Capelle aan den IJssel The Netherlands Digital Servo Drives and Accessories Kinetix 6000 6200 6500 6000M Allen Bradley Bulletin 2094 reference the attached list of catalogue numbers Safe Standstill Kinetix6000 S products Safe Torque Off Kinetix6200 6500
51. hose results are documented in report no 968 EZ 205 04 13 dated 2013 02 14 The holder of a valid licence certificate for the product tested is authorized to affix the cnarieskown opposite to products which are identical with the Berlin 2013 02 14 Certification Body for Machinery NB 0035 Dipl Ing Eberhard Frejno Rockwell Automation Publication GMC RMOO2F EN P June 2013 te 43 Appendix EC Certifications Figure 31 Kinetix 7000 Servo Drives Certificate TEV nd TUV ape anf CERTIFICATE A TUVRheinland EC Type Examination Certificate Registration No 01 205 0637 09 ZERTIFIKAT Pr fgegenstand Adjustable Frequency AC Drive with Zertifikats Product tested integrated safety function Safe Standstil inhaber Hersteller USA Mequon WI 53092 Corresponds to Safe Torque Off STO United States of America Typbezeichmung Kinetix 7000 Safe Off AC Servo Drive Type designation Model numbers 2099 BM06 S 2090 8 07 5 2000 8 08 5 2099 8 09 5 2099 8 10 5 2099 BM11 S 2099 BM12 S Prufgrundiagen 61800 5 2 2007 EN 62061 2005 Codes and standards forming EN ISO 13849 1 2008 EN 60204 1 2006 the basis of testing EN 61800 5 1 2007 IEC 61506 Part 1 7 1998 and 2000 EN 61800 3 2004 Bestimmungsgemate Verwendung safety functio
52. lelnputStatus 0 Decimal safe_test2 AccelLimitStatus 0 Decimal safe test2 AbsoluteReferenceStatus 0 Decimal safe test2 SafeDffModeActiveStatus 0 Decimal In the RSLogix 5000 version 16 example the axis SafeOffModeActiveS tatus 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 RMOO2F EN P June 2013 13 Chapter1 Safety Concept and Troubleshooting Figure 3 Advanced Safe Torque off Troubleshooting Flowchart Bulletin 2099 or Bulletin 2094 with safe torque off 5 drive Refer to user manual for troubleshooting Bulletin 2094 drives without safe torque off RSLogix 5000 software v15 or v16 16 or later Go to RSLogix 5000 software gt Motion Group gt Go to RSLogix 5000 software gt Motion Group gt Axis_Servo_Drive tag name gt Monitor Axis tag gt Axis_Servo_Drive tag name gt Monitor Axis tag gt Axis_Servo_Drive DriveStatus bit 14 Axis Servo Drive SafeOffModeActiveStatus GUI Safe Torque off status bit 10 0 No safe torque off fault or condition Both inputs energized within 100 ms Was the axis enabled prior to reading bit Yes Yes Was error code E49 displayed Was error code E49 displayed Safe Torque off condition exists through
53. lt Axis Module 21 2 Amp 2094 05 460 Volt Axis Module 34 6 Amp 2094 AMP5 230 Volt Axis Module 3 7 Amp 2094 1 230 Volt Axis Module 6 0 Amp 2094 02 230 Volt Axis Module 10 6 Amp 2094 230 Volt Axis Module 17 Yes Yes Yes 2094 05 230 Volt Axis Module 34 6 Amp Yes Yes Yes 2094 5 02 00 50 6200 SERCOS safe torque off 2094 SE02F M00 S1 Kinetix 6200 CM SERCOS safe speed monitoring 2094 02 01 80 6500 safe torque off 2094 2 01 51 6500 CM CIP safe speed monitoring 2094 SEPM B24 S Kinetix 6000M SERCOS 460 Volt IDM Power Interface Module safe torque off 2094 PRF Power Rail Slot Filler no electrical ratings apply 2094 PR1 2094 PR2 1 Axis Power Rail 2 Axis Power Rail 2094 PR4 4 Axis Power Rail 2094 PR6 6 Axis Power Rail 2094 PR8 8 Axis Power Rail 2094 PRS1 1 Axis Slim Power Rail 2 Axis Slim Power Rail 3 Axis Slim Power Rail 2094 PRS5 4 Axis Slim Power Rail 5 Axis Slim Power Rail 2094 PRS6 6 Axis Slim Power Rail 2094 PRS7 7 Axis Slim Power Rail 2094 PRS8 8 Axis Slim Power Rail Document Control Number IMC 0011 X EN Rockwell Automation Publication GMC RMOO2F EN P June 2013 Certifications Appendix Figure 33 Kinetix 7000 Servo Drives Do
54. n Safe Standstill complies with the requirements of the relevant intended application standards Cat 3 PL to EN ISO 13849 1 SIL CL 3 to EN 62081 IEC 61508 EN 61800 5 2 and can be used in applications up to Cat 3 PL e to ISO 13849 1 and 511 3 acc to EN 62061 IEC 61508 EN 61800 5 2 Besondere Bedingungen The possibiity of the smat movement of the motor resulting from simukaneous GBT Specific requirements failures must be taken into account during the hazard analysis of the system Technische Daten The extemal wiring has to be performed in such wary thal the failure mode Short Technical data circut between wires can be excluded see EN ISO 13849 2 The instrucbons of the associated Installaton and Operating Manusi shall be considered it confirmed that the product under test complies with the requirements for machines defined in Annex I of the Directives 98 37 until 2009 12 28 and 2006 42 valid from 2009 12 29 This certificate is valid from 2000 12 29 until 2014 11 25 E 71 Der Pr fbericht Nr 968 EZ 219 020 vom 18032009 ist Bestandteil dieses Zertifikates Functional Safei Safety Der Inhaber eines f r den Pr fgegenstand g ltigen Genehmigungs Ausweises ist berechtigt die mit dem Pr fgegenstand bereinstimmenden Erzeugnisse mit dem abgebiideten Pr fzeichen zu versenen The test report no S68 EZ 219 0200 dated 2006 03 18 an inte
55. nector system 2090 UXNFBMP Sxx Motor feedback cable for MPL motors or 1326AB motors or 87205 motors using the MP connector system 2090 XXNPMP zzSxx Motor power cable for MPL motors or 1326AB motors or 8720SM motors using the MP connector system 2090 MCNPMP zzSxx Motor power cable for MPL B960D or B980D motors 2090 UXNBMP 18Sxx Motor brake cable 2090 XXTFMP Sxx Continuous Flex Motor feedback cable for MPL motors or 1326AB motors or 8720SM motors using the MP connector system 2090 XXTPMP YYSLL Continuous Flex Motor Power cable for MPL motors or 1326AB motors or 87208 motors using the MP connector system wire gauge LL length in meters 2090 UXTBMP 18SLL Continuous Flex Motor brake cable motors using the MP connector system LL length in meters 2090 XXNFMF Sxx Motor feedback cable for MPL motors or 1326AB motors or 87205 motors using the MP connector system 2090 XXNPMF zzSxx Motor power cable for MPL motors or 1326AB motors or 8720SM motors using the MP connector system Document Control Number IMC 0018 H EN 2 4 48 Rockwell Automation Publication GMC RMOO2F EN P June 2013 about this publication 7 C cables drive to drive 20 25 26 catalog safety products 31 category 3 requirements 10 stop category definitions 10 CE comply with CE 10 conformity 10 meet requirements 11 certification EC Dedaration of Conformity Kinetix 6000 45 Kinetix 7000 47 EC Type Examination
56. nstallation 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 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 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 Outside United States Please contact your local Rockwell Automation representative for the return procedure Documentation Feedback Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA DU002 available at http www rockwellautomation com literature Rockwell Otomasyon Ticaret 5 Kar Plaza Is Merkezi E Blok Kat 6 34752 erenk y stanbul Tel 90 216 5698400 www rockwellautomation com
57. o 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 An article on wire sizes and types for grounding electrical equipment Rockwell Automation Industrial Automation Glossary publication AG 7 1 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 RMOO2F EN P June 2013 Certification Rockwell Automation Publication GMC RMOO2F EN P June 2013 Chapter 1 Safety Concept and Troubleshooting This chapter introduces you to how the safe torque off feature meets the requirements of Performance Level 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 Certification 9 European Union Directives 10 Description of Operation 1 PFD and Specifications 11 Troubleshooting 12 The TUV Rheinland group has approved the Kinetix 6000 and Kinetix 7000 servo drives for use in safety related applications up to EN ISO 13849 1 Perform
58. on 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 order of 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 RMOO2F EN P June 2013 11 Chapter1 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 PFH 0 26 e 9 0 38 e 9 PFD 0 045 e 3 0 027 e 3 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 mod
59. out Voltage 0v 24 Coil Resistance 720 0 648 Q 792 Coil Current 33 3 55 0 mA Pull in Time 25 ms Drop out Time 20 ms Rockwell Automation Publication GMC RMOO2F EN P June 2013 29 Appendix 30 Table 9 Relay Contact Specifications for the FDBK Signals Attribute Value Contact Resistance 1 24V DC lt 100mQ Contact Resistance 10 mA 5V DC 209 Contact Load 10 mA 5V DC Rated Current 5A Rated Voltage 240V ac Breaking Capacity ac max for resistive loads 1250VA Kinetix 6000 series C Servo Drives Table 10 Safe Torque off Signal Specifications Attribute Value Input ON voltage range 18 26 4V DC Input OFF voltage max 5V DC Input OFF current 2mA Q Vin lt 5VDC Pulse rejection width 700 us External power supply SELV PELV Input type 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 Rockwell Automation Publication GMC RMOO2F 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 Page Kinetix Safe Torque off Safety
60. rnal 24V COM Safe Torque off Interface Cable Kinetix 6000 Module 1202 Kinetix 7000 Drive Safe Torque off STO Connector with Middle Header 2090 XNSM M Kinetix 6000 IAM AM Module Safe Torque off or Kinetix 7000 Drive Interface Cable 1202 Ox Safe Torque off STO Connector with Terminating Header 2090 XNSM T Rockwell Automation Publication GMC RMOO2F EN P June 2013 33 AppendixB Kinetix Safe Torque off Wiring Diagrams Figure 21 Multi axis Relay Configuration Stop Category 1 External 24V DC Safe Torque off Demand Kinetix 6000 IAM AM Module or Kinetix 7000 Drive Allen Bradley Monitoring Safety Relay MSR138 1DP 440R M23088 Lal FDBK2 FDBK2 gt Safe Torque off FDBK1 STO Connector with SAFETY ENABLE2 First drive Wiring Header SAFETY ENABLE 2090 XNSM W External 24V COM SAFETY ENABLE1 1 0 100 Connector Hardware Enable Input Q External 24V Safe Torque off Interface Cable 1202 0 Q ran 24V_COM Kinetix 6000 Module Kinetix 7000 Drive Safe Torque off STO Connector with Middle Header 2090 XNSM M 1 0 100 Connector Hardware Enable Input Safe Torque off Interf
61. rom an external source 28 Rockwell Automation Publication GMC RMOO2F EN P June 2013 Safe Torque off Response Time Specifications Safe Torque off Signal Specifications Appendix A Specifications This chapter provides safe torque off feature specifications for your Kinetix 6000 and Kinetix 7000 drives Topic Page Safe Torque off Response Time Specifications 29 Safe Torque off Signal Specifications 29 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 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 Nom Min Max Pull in Voltage 24 18V 26 4V Drop

GMC-RM002F-EN-P Kinetix Safe Torque

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