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

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Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 29
Appendix
A
Specifications
This chapter provides safe torque-off feature specifications for your Kinetix 6000
and Kinetix 7000 drives.
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.
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
Topic Page
Safe Torque-off Response Time Specifications 29
Safe Torque-off Signal Specifications 29
ATTENTION: The safe torque-off response time is typical of drive performance.
Actual system response time will vary depending on your application.
Attribute Nom Min Max
Pull-in Voltage 24V 18V 26.4V
Drop-out Voltage — 0V 2.4V
Coil Resistance 720
Ω
648
Ω
792
Ω
Coil Current 33.3 mA — 55.0 mA
Pull-in Time 25 ms — —
Drop-out Time 20 ms — —