Rockwell Automation Allen-Bradley 2094-AC-M-S Series Safety Reference Manual
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Rockwell Automation Allen-Bradley 2094-AC-M-S Series Safety Reference Manual

Kinetix safe torque-off feature
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Safety Reference Manual
Kinetix Safe Torque-off Feature
Catalog Numbers 2094-AC -M -S, 2094-BC -M -S, 2094-AM -S, 2094-BM -S, 2099-BM -S
Original Instructions

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Summary of Contents for Rockwell Automation Allen-Bradley 2094-AC-M-S Series

  • Page 1 Safety Reference Manual Kinetix Safe Torque-off Feature Catalog Numbers 2094-AC -M -S, 2094-BC -M -S, 2094-AM -S, 2094-BM -S, 2099-BM -S Original Instructions...
  • Page 2 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.
  • Page 3 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. Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...
  • Page 4 Summary of Changes Notes: Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...

  • Page 5: Table Of Contents

    Kinetix 6000 (series C) Servo Drives ......30 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...
  • Page 6 EC Declaration of Conformity ........45 Index Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...

  • Page 7: About This Publication

    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 The following conventions are used throughout this manual: Bulleted lists such as this one provide information, not procedural steps.

  • Page 8: Additional Resources

    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. Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...

  • Page 9: Certification

    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...

  • Page 10: Category 3 Requirements According To En Iso 13849-1

    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 Declaration of Conformity page 178. Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...

  • Page 11: Low Voltage Directive

    (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...

  • Page 12: Pfd And Pfh Data

    Drive will not allow motion. (Safe-off HW Flt) · Safe-off circuit missing +24V DC. · If error persists, return the drive to Rockwell Automation. ATTENTION: After troubleshooting, a proof test must be performed to verify correct operation. Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...

  • Page 13: Understanding The Safe Torque-Off Condition Vs Drive Fault

    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...
  • Page 14 (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. Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...

  • Page 15: Safe Torque-Off Connector Pinout

    Pins STO-8 (internal 24V+ supply) and STO-9 (24V_COM) are used only by the IMPORTANT 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...
  • Page 16 Figure 5 - 9-pin Safe Torque-off (STO) Connector - Kinetix 7000 Drive 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) Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...

  • Page 17: Safe Torque-Off Header Configurations

    Kinetix 6000 and Kinetix 7000 single drive safe torque-off applications. Figure 7 - Single Drive Wiring Header Kinetix 6000 or Kinetix 7000 Drive Safe Torque-off terminals for (Kinetix 6000 axis module is shown) input wiring (STO-1…STO-7). Wiring Plug Header Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...
  • Page 18 Safe Torque-off terminals for input wiring (STO-1…STO-7). Do not use the first-drive (2090-XNSM-W) wiring header in single-drive IMPORTANT applications. Figure 9 - First-drive Wiring Header Pin Assignment SO-1 2 3 4 5 6 7 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...
  • Page 19 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...

  • Page 20: Safe Torque-Off Accessories

    2094-BNINV-2 2094-BC07-M05-S, 2094-BM05-S Includes safe torque-off (STO), general purpose I/O (GPIO), 2099-K7KCK-1 Kinetix 7000 High Power Drives 2099-BM -S general purpose relay (GPR), and control power (CP) replacement connectors for Kinetix 7000 drives. Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...

  • Page 21: Wire The Safe Torque-Off Circuit

    Pins STO-8 (internal 24V+ supply) and STO-9 (24V_COM) are used only by the IMPORTANT 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...

  • Page 22: Safe Torque-Off Wiring Requirements

    Refer to Additional Resources 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. Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...

  • Page 23: Safe Torque-Off Feature

    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-RM002F-EN-P - June 2013...

  • Page 24: Safe Torque-Off Connection Examples

    Figure 13 - Typical Single Drive Safe Torque-off Configuration Safe Torque-off Control Wiring Plug Header Circuit Wiring Plug Headers with Motion-allowed Jumper Kinetix 6000 or Kinetix 7000 Drives (Kinetix 6000 drive is shown) Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...
  • Page 25 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...
  • Page 26 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...

  • Page 27: Safe Torque-Off Wiring Examples For Sil 3 Applications

    Pins STO-8 (internal 24V+ supply) and STO-9 (24V_COM) are used only by the IMPORTANT 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...
  • Page 28 Pins STO-8 (internal 24V+ supply) and STO-9 (24V_COM) are used only by the IMPORTANT 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...

  • Page 29: Safe Torque-Off Response Time Specifications

    Pull-in Voltage 26.4V Drop-out Voltage — 2.4V 720 Ω 648 Ω 792 Ω Coil Resistance Coil Current 33.3 mA — 55.0 mA Pull-in Time 25 ms — — Drop-out Time 20 ms — — Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...

  • Page 30: Kinetix 6000 (Series C) Servo Drives

    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-RM002F-EN-P - June 2013...
  • Page 31 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...

  • Page 32: Kinetix Safe Torque-Off/Safety Relay Configurations

    Allen-Bradley Monitoring Safety Relay SAFETY ENABLE2+ with MSR138.1DP (440R-M23088) Wiring Header SAFETY ENABLE - SAFETY ENABLE1+ N.C. 24V + Y39 Y40 N.C. 24V_COM I/O (IOD) Connector External 24V COM Hardware Enable 24V + Hardware Enable Input Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...
  • Page 33 Kinetix 7000 Drive Safe Torque-off (STO) Connector with Middle Header (2090-XNSM-M) Kinetix 6000 IAM/AM Module or Kinetix 7000 Drive Safe Torque-off Interface Cable Safe Torque-off 1202-C (STO) Connector with Terminating Header (2090-XNSM-T) Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...
  • Page 34 I/O (IOD) Connector Hardware Enable Input 24V_COM Safe Torque-off Kinetix 6000 IAM/AM Module or Interface Cable Kinetix 7000 Drive 1202-C Safe Torque-off (STO) Connector with Terminating Header (2090-XNSM-T) I/O (IOD) Connector Hardware Enable Input 24V_COM Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...

  • Page 35: Kinetix Safe Torque-Off/Guardlogix Configurations

    Kinetix Safe Torque-off/ In these diagrams, the Kinetix 6000 and Kinetix 7000 drive safe torque-off connector is shown wired to an Allen-Bradley GuardLogix controller. GuardLogix Configurations Figure 22 - Single-axis GuardLogix Configuration (Stop Category 0) Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...
  • Page 36 Appendix B Kinetix Safe Torque-off Wiring Diagrams Figure 23 - Single-axis GuardLogix Configuration (Stop Category 1) Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...
  • Page 37 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...
  • Page 38 Appendix B Kinetix Safe Torque-off Wiring Diagrams Figure 25 - Multi-axis GuardLogix Configuration (Stop Category 1) Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...

  • Page 39: Kinetix Safe Torque-Off/Guardplc Configurations

    Kinetix Safe Torque-off/ In these diagrams, the Kinetix 6000 and Kinetix 7000 drive safe torque-off connector is shown wired to an Allen-Bradley GuardPLC controller. GuardPLC Configurations Figure 26 - Single-axis GuardPLC Configuration (Stop Category 0) Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...
  • Page 40 Appendix B Kinetix Safe Torque-off Wiring Diagrams Figure 27 - Single-axis GuardPLC Configuration (Stop Category 1) Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...
  • Page 41 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...
  • Page 42 Appendix B Kinetix Safe Torque-off Wiring Diagrams Figure 29 - Multi-axis GuardPLC Configuration (Stop Category 1) Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...

  • Page 43: Ec Type - Examination Certificate

    EC Type - Examination Certificate EC Declaration of Conformity EC Type - Examination For complete product certifications currently available from Rockwell Automation, go to http://www.rockwellautomation.com/products/certification. Certificate Figure 30 - Kinetix 6000 Servo Drives Certificate Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...
  • Page 44 Appendix C EC Certifications Figure 31 - Kinetix 7000 Servo Drives Certificate Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...

  • Page 45: Ec Declaration Of Conformity

    2002 Manufacturer: Authorized Representative in the Community: 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-RM002F-EN-P - June 2013...
  • Page 46 4 Axis Slim Power Rail 2094-PRS5 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 2 / 9 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...
  • Page 47 2006 Manufacturer: Authorised Representative in the Community: 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-RM002F-EN-P - June 2013...
  • Page 48 Motor feedback cable, for MPL motors or 1326AB motors or 8720SM 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 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...
  • Page 49 1 28 wiring requirements 22 safety products catalog 30 safety relay examples 32 specifications GuardLogix examples 35 safe torque-off enable signals 29 GuardPLC examples 39 safe torque-off feedback signals 30 safe-off response time 29 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013...
  • Page 50 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-RM002F-EN-P - June 2013...
  • Page 52 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.

This manual is also suitable for:

Allen-bradley 2094-bc-m-s seriesAllen-bradley 2094-am-s seriesAllen-bradley 2094-bm-s seriesAllen-bradley 2099-bm-s series

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