Rockwell Automation Allen-Bradley 2094-AC-M-S Series Safety Reference Manual Download Page 4 | Manualshive

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

Summary of Changes

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

Page 1: ...Kinetix Safe Torque off Feature Catalog Numbers 2094 ACxx Mxx S 2094 BCxx Mxx S 2094 AMxx S 2094 BMxx S 2099 BMxx S Safety Reference Manual Original Instructions...

Page 2: ...kwell 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 permissi...

Page 3: ...954 1 with EN ISO 13849 1 Updated safe torque off descriptive text including certification description of operation and PFD PFH definitions and data 9 12 Updated European Union Directives and moved fr...

Page 4: ...4 Rockwell Automation Publication GMC RM002F EN P June 2013 Summary of Changes Notes...

Page 5: ...ata 12 Troubleshooting 12 Understanding the Safe Torque off Condition vs Drive Fault 13 Chapter2 SafeTorque offConnectorData Safe Torque off Connector Pinout 15 Safe Torque off Header Configurations 1...

Page 6: ...tixSafeTorque offWiring Diagrams Kinetix Safe Torque off Safety Relay Configurations 32 Kinetix Safe Torque off GuardLogix Configurations 35 Kinetix Safe Torque off GuardPLC Configurations 39 Appendix...

Page 7: ...d throughout this manual Acronym Full Term Definition EN European Norm European Standards EN specifications developed by the European Committee for Standardization for the European Union ISO Internati...

Page 8: ...examples and techniques designed to minimize system failures caused by electrical noise EMC Noise Management DVD GMC SP004 Rockwell Automation Configuration and Selection Tools website website http a...

Page 9: ...afety 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 th...

Page 10: ...ctromagnetic 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 compli...

Page 11: ...lectrical 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 outp...

Page 12: ...orque 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 The...

Page 13: ...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 mu...

Page 14: ...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 torq...

Page 15: ...plug header used in single drive applications First drive wiring header 2090 XNSM W used in multiple drive applications One side of the normally closed monitoring contact of relay 2 FDBK2 2 Other sid...

Page 16: ...V U MBRK MBRK COM PWR DBRK DBRK 1 2 3 4 1 2 3 4 5 6 1 2 3 4 5 6 7 8 9 BAUD RATE TX RX DPI DC DC L3 L2 L1 CONT EN CONT EN W V U MBRK MBRK COM PWR DBRK DBRK CTRL 2 CTRL 1 1 2 3 4 1 2 3 4 5 6 1 2 1 2 3 4...

Page 17: ...with each Kinetix 6000 and Kinetix 7000 drive and enables drive operation without external safety circuit connections Figure 6 Motion allowed Jumper In this example the Kinetix 6000 axis module is sh...

Page 18: ...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 Figure 9 First drive Wiring...

Page 19: ...e 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...

Page 20: ...0 axis modules 1202 C03 Drive to drive safety cable 350 mm 13 8 in for connecting double wideKinetix 6000 axis modules 1202 C10 Drive to drive safety cable 1050 mm 41 3 in for connections between Kine...

Page 21: ...Wire the Safe Torque off Circuit 21 Safe Torque off Wiring Requirements 22 Safe Torque off Feature 23 IMPORTANT TheNationalElectricalCodeandlocalelectricalcodestakeprecedence overthe values and metho...

Page 22: ...que off STO Connector Recommended Wire Size Strip Length mm in Torque Value N m lb in Pin Signal Stranded Wire with Ferrule mm2 AWG Solid Wire mm2 AWG STO 1 STO 2 STO 3 STO 4 STO 5 STO 6 STO 7 STO 8 S...

Page 23: ...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...

Page 24: ...e 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 Fi...

Page 25: ...tix 6000 Safe Torque off Configuration Cable connections to middle drive headers catalog number 2090 XNSM M can be made to either connector Input and output is not specified 1202 C10 1202 C02 1202 C03...

Page 26: ...f Configuration Cable connections to middle drive headers catalog number 2090 XNSM M can be made to either connector Input and output is not specified 1202 C10 1202 C02 1202 C02 Safe Torque off Contro...

Page 27: ...parking brake Disabling the output by anymeansandengagingtheholdingbrakewiththemotorinmotionwillresult in premature failure of the brake 1 2 3 4 5 6 7 8 9 FDBK2 FDBK2 FDBK1 FDBK1 SAFETY ENABLE2 SAFETY...

Page 28: ...24V Hardware Enable Input Estop Out 12 Estop Out 22 Estop IN 11 Estop IN 21 Safe Torque off STO Connector with Wiring Header I O IOD Connector Safe Torque off Demand Reset PB Safety Relay Rated for S...

Page 29: ...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 envi...

Page 30: ...erlock applications refer to the Safety Products Catalog website http www ab com catalogs Attribute Value Contact Resistance 1 A 24V DC 100 m Contact Resistance 10 mA 5V DC 20 Contact Load min 10 mA 5...

Page 31: ...y relays light curtains and gate interlock applications refer to the Safety Products Catalog website http ab com catalogs Topic Page Kinetix Safe Torque off Safety Relay Configurations 32 Kinetix Safe...

Page 32: ...2 SAFETY ENABLE SAFETY ENABLE1 24V 24V_COM Kinetix 6000 IAM AM Module or Kinetix 7000 Drive Allen Bradley Monitoring Safety Relay MSR127RP 440R N23135 Safe Torque off STO Connector with Wiring Header...

Page 33: ...dule or Kinetix 7000 Drive Safe Torque off STO Connector with First drive Wiring Header 2090 XNSM W External 24V COM External 24V DC Reset Safe Torque off Interface Cable 1202 Cxx Allen Bradley Monito...

Page 34: ...t 24V_COM Kinetix 6000 IAM AM Module or Kinetix 7000 Drive Allen Bradley Monitoring Safety Relay MSR138 1DP 440R M23088 External 24V COM Safe Torque off Demand External 24V DC Reset I O IOD Connector...

Page 35: ...4 5 6 7 8 9 FDBK2 FDBK2 FDBK1 FDBK1 SAFETY ENABLE2 SAFETY ENABLE SAFETY ENABLE1 24V 24V_COM N C N C DeviceNet TM Kinetix 6000 IAM AM Module or Kinetix 7000 Drive Allen Bradley GuardLogix Safety I O Mo...

Page 36: ...nput 24V_COM DeviceNet TM Kinetix 6000 IAM AM Module or Kinetix 7000 Drive Allen Bradley GuardLogix Safety I O Module 1791DS IB8X0B8 Safe Torque off STO Connector with Wiring Header 24V COM Safe Torqu...

Page 37: ...Header 2090 XNSM W 24V COM Safe Torque off Demand 24V DC 24V COM 24V DC ControlLogix Chassis Safe Torque off Interface Cable 1202 Cxx Safe Torque off STO Connector with Middle Header 2090 XNSM M Safe...

Page 38: ...with First drive Wiring Header 2090 XNSM W 24V COM Safe Torque off Demand 24V DC 24V COM 24V DC ControlLogix Chassis Safe Torque off Interface Cable 1202 Cxx Safe Torque off STO Connector with Middle...

Page 39: ...8 19 20 L 37 38 39 40 41 42 LS 13 14 15 16 L 31 32 33 34 35 36 LS 9 10 11 12 L 25 26 27 28 29 30 LS 5 6 7 8 L 19 20 21 22 23 24 LS 1 2 3 4 L 13 14 15 16 17 18 L 1 2 3 4 L 1 2 3 4 5 6 L 5 6 7 8 L 7 8 9...

Page 40: ...2 23 24 LS 1 2 3 4 L 13 14 15 16 17 18 L 1 2 3 4 L 1 2 3 4 5 6 L 5 6 7 8 L 7 8 9 10 11 12 DI DI DI DI DI DO DO Allen Bradley Guard PLC 1600 1753 L28BBM 20 DC Inputs 8 DC Outputs L L L L 1 2 3 4 5 6 7...

Page 41: ...rd PLC 1600 1753 L28BBM 20 DC Inputs 8 DC Outputs L L L L 1 2 3 4 5 6 7 FDBK2 FDBK2 FDBK1 FDBK1 SAFETY ENABLE2 SAFETY ENABLE SAFETY ENABLE1 24V DC 24V COM Safe Torque off Demand 24V DC Power Supply Ki...

Page 42: ...tputs L L L L 1 2 3 4 5 6 7 FDBK2 FDBK2 FDBK1 FDBK1 SAFETY ENABLE2 SAFETY ENABLE SAFETY ENABLE1 Hardware Enable Input 24V_COM 2 3 Hardware Enable Input 24V_COM 2 3 24V DC 24V COM Kinetix 6000 IAM AM M...

Page 43: ...00 servo drive certification information EC Type Examination Certificate For complete product certifications currently available from Rockwell Automation go to http www rockwellautomation com products...

Page 44: ...44 Rockwell Automation Publication GMC RM002F EN P June 2013 Appendix C EC Certifications Figure 31 Kinetix 7000 Servo Drives Certificate...

Page 45: ...d in accordance with the installation instructions contained in the product documentation 2006 95 EC Low Voltage Directive 2004 108 EC EMC Directive 2006 42 EC Machinery Directive and that the standar...

Page 46: ...Yes Yes Yes 2094 BM03 460 Volt Axis Module 21 2 Amp Yes Yes Yes 2094 BM05 460 Volt Axis Module 34 6 Amp Yes Yes Yes 2094 AMP5 230 Volt Axis Module 3 7 Amp Yes Yes Yes 2094 AM01 230 Volt Axis Module 6...

Page 47: ...installation instructions contained in the product documentation 2006 95 EC Low Voltage Directive 2004 108 EC EMC Directive 2006 42 EC Machinery Directive and that the standards and or technical speci...

Page 48: ...les 2090 XXNFMP Sxx Motor feedback cable for MPL motors or 1326AB motors or 8720SM motors using the MP connector system 2090 UXNFBMP Sxx Motor feedback cable for MPL motors or 1326AB motors or 8720SM...

Page 49: ...ack signal specifications 30 first drive wiring header 18 G GuardLogix examples 35 GuardPLC examples 39 H headers 20 first drive wiring 18 last drive 19 middle drive 19 motion allowed jumper 17 wiring...

Page 50: ...ining 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 2...

Page 51: ......

Page 52: ...ours 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 New Product Satisfaction Return Ro...

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