Kinetix Safe-off Feature Safety Reference Manual
Contents
1. gt CTRL 2 1 m Safe off 1 25 50 Connector je gt Jory L2 tom Hl CONT EN 2 7 cont eve H DBRK pole lt Integrated Axis Module IAM Top View Axis Module Top View 2094 BC01 MP5 S is shown 2094 BMP5 S is shown 9 pin Safe off SO Connector Kinetix 7000 Drive Wl 123456789 HHA RA2. W WSNX 0602 L WSNX 0602 Japeay 201994107 05 9 2021 10198uu09 05 0 81462 jjo ejes 30 925 000 Xneury 000 xneury 10 INV INVI 0009 JOINV NWI0009 puewag jjo ajeg Y Ave N00 Ave 9 2021 21482 eoeyiaju 19 119 19 19 119 119 19 119 119 19 L e 09 09 A Jo sjes m 1 L 9 S v E 0 JIA A 119814147 12 L 0 0A 880X88l SQ16 1 A einpojy 0 1 ejes xibo pienp o pejg uoajy I318VN3 ALHVS 7 IP Mc 2 e JIBVN3 AL3VS 5 pma HYNI V 13804 sisseu 20294407 05 1904 JJ 0 9JE 525 43804 i 0 8 0 94 0004 10 INV NVI 0009 Ayes 4571 98 105592014 1 191 96 July 2008 Publication GMC RMOO2E EN P 44 Kinetix Safe off Wiring Diagrams Appendix B Multi axis GuardLogix Configuration Stop Category 1 45 WOT Ave INO AW UONPWIOJU SJOW 101 ajqeu3 Je yndu 19 3
3. IMPORTANT Due to the current capacity limitation of the safe off cable connectors multiple safe 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 Publication GMC RMOO2E EN P July 2008 29 Chapter 3 Wiring Your Kinetix Safe off Drive Safety Relay Rated for SIL 3 per IEC 61508 24V Com 24V Estop Ou Safe off Wiring Examples for SIL 3 Applications The following illustrations show typical wiring diagrams for the Kinetix 6000 and Kinetix 7000 safe off drives e Typical single drive stop category 0 configuration e Typical single drive stop category 1 configuration ATTENTION A 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 Single Drive Stop Category 0 with Safety Relay Configuration Kinetix 6000 IAM AMI or Kinetix 7000 Drive Estop Ou Estop IN 11 Estop N l l I I Safe off Demand A Reset PB 1 FDBK2 2 FDBK2 3
4. 22 Publication GMC RMOO2E EN P July 2008 Safe off Connector Data Chapter 2 Safe off Interface Cables Safe off interface cables are required for making connections with 2090 XNSM W 2090 XNSM M and 2090 XNSM T safe off headers Safe off Interface Cables Description Cat No Drive to drive safety cable 200 mm 7 9 for connecting single wide 1202 C02 Kinetix 6000 axis modules Drive to drive safety cable 350 mm 13 8 in for connecting double wide 1202 C03 Kinetix 6000 axis modules Drive to drive safety cable 1050 mm 41 3 in for connections e between Kinetix 6000 power rail and Kinetix 7000 drive 1202 C10 e between two Kinetix 6000 power rails e between two Kinetix 7000 drives IMPORTANT Due to the current capacity limitation of the safe off interface cable connectors multiple safe off drive configurations must not exceed eight Kinetix 6000 or Kinetix 7000 drive modules Publication GMC RMOO2E EN P July 2008 23 Chapter 2 Safe off Connector Data 24 Publication GMC RMOO2E EN P July 2008 Chapter J Wiring Your Kinetix Safe off Drive This chapter provides guidelines for wiring your Kinetix 6000 and Kinetix 7000 safe off drive connections Topic Page European Union Directives 25 Understanding the Kinetix Safe off Feature 26 Safe off Wiring Requirements 33 European Union Directives Tf this product is installed within the European Union o
5. IW INSNX 0602 L WSNX 0602 JepeaH 9 2051 Japeay Bureuiuug 101994409 QS aoeyiaqu 101994409 QS jo ejes 330 5 0007 Xt9unj 0007 10 INV INVI 0009 10 INV INVI 0009 XX C0C 9 qe e2ej191u jjo 9jes 10 Ov 66 BE LE 0 96 VE CE Z LE OE 62 BZ LZ 92 SZ VZ EZ 22 12 0Z 6 10061811551 19181711451 121 1101 6491 718 L 9 S491 717 IG IG Id Id sindino 2 8 Sindui NagscTeszt 318VN3 134 5 7 0091 Jen JIBVN3 ALHVS 5 Wr M SNX 0602 Japeay BuutM C318VN3 1355 MA NA NU 13904 YUM 7 10128 102 05 3804 Jo sjes i 24803 23904 000 10 INV INVI 0009 Avc Ay C samog Avc July 2008 Publication GMC RMOO2E EN P 48 Appendix B Kinetix Safe off Wiring Diagrams tion Stop Category 1 igura GuardPLC Conf i axis Mult INO Ave jndu ajqeuy 10138uu07 001 0 1 W WSNX 0602 lepeeH Ipp N JM 203290007 09 000 10 INV INVI 0009 WOI At jndu ejqeu3 eewpieH Jo ejes I I I F L 10138uu0 001 0 1
6. 880X88l SQ16 L A 0 1 peig u jIV ON THWNNSABAS j NU Pa PA E 8 318 ALS M FENI ABS 203290007 os 13804 sisseu xI6o1 0nuo9 Jj0 8jes v 1803 73804 4 19N821 eQ qNQ 967 L 000 Mayes 1 451 954 10 INV NVI 0009 105592014 1 1 191 96 1 Appendix B Kinetix Safe off Wiring Diagrams Single axis GuardLogix Configuration Stop Category 1 Arc jndu ejqeu3 10138uu07 001 uoneuuojur 101 TOOINT SGTGZ T uoneaignd enuey asn 1 N 3IA pue TOOINN LING jenuey asn 5 18 lt 0009X1607 sanpo 99 01 13434 aq 151 19 0 1402 au Jo Buluolssiwwod pue 2160 1900101 1NV 1U0dWI B puewag ME Ave AvZ NC 1318VN3 AL3HVS 6 ON 8 ON 0 8 1 16 1 lnpolN 0 1 peig u jIiV 3I8VN3 AL3VS 2
7. LOOINPI SQI6ZL nd 195 40138uu07 000 0 1 40398uu09 001 0 1 y pue POOININ LING uoneoriqnd asn sula1s S W WSNX 0602 pM EP USN 0602 0 1002 0009X1607 19N 3IA 8 34 01 13J H 20129410 05 9 202 201290007 05 yo ojes m yo ojes peunBijuo2 WETU INVLYOdWI 000 SABIO DON 1 19 0 3002 aui Buiuorssiuuuoo pue 2 60 190014 10 INV NVI 0009 xnaury 10 INV INVI 0009 Xnaury 8 puewag 0 belt PIE 9 202 9 qe y HPS NOD IN02 W03 NvZ N 1ndu ejqeu3 asempuey 40 98UU0 001 0 1 890 891 5016 1 lnpolN jes 318VN3 AL3VS LAL 2 IPAE 5 3IBVN3 ALHVS z MWSNX 060z 3 18VN3 AL33VS xl Japeay a 8 14 15803 y 09 515587 01 04 02 20290002 05 jo ojes 2904 i lnpo0lN aNQ 95 L Jaujied Ajejes 1 451 9071 105592014 1
8. 1971 96 000 Xnouni 10 INV INVI 0009 Publication GMC RMOO2E EN P Kinetix Safe off Wiring Diagrams Appendix B In these diagrams the Kinetix 6000 and Kinetix 7000 drive safe off Kinetix Safe off GuardPLC Configurations connector is shown wired to an Allen Bradley GuardPLC controller Single axis GuardPLC Configuration Stop Category 0 Japeay YUM 10128uu0 09 40 342S puewaq jjo ayes WOT AvZ Abe I3I8VN3 4 5 318VN3 AHHVS 318VN4 AL3VS 13804 803 72803 2803 m cb Oy GE BE LE 98 GE 58 CELE 0E 62 80 10 96 SZ vc 62 1 OZ 61 81 1916 1 0Z 6L 8L 1 51 19L SL vL amp 1 51 1 21 101 6 51 78 2 9 6 5 Id Id sindino 8 sindu 24 02 Wgg8zT SZL 009 pieno Id IG Y 0000 Tevez 1 1 Id od o 000 10 WV WVI 0009 Xn9ury Ajddng 1 July 2008 Publication GMC RMOO2E EN P 46 Appendix B Kinetix Safe off Wiring Diagra
9. drives Topic Page Connector Data 17 Understanding Safe off Connections 20 Safe off Interface Cables 23 Each Kinetix 6000 and Kinetix 7000 safe off drive ships with the 9 pin wiring plug header and motion allowed jumper With this wiring header jumper combination installed in the safe off SO connector default configuration the safe off feature is not used Wiring Plug Header with Motion allowed Jumper Motion allowed Jumper Wiring Plug Header Replacement header with jumper is also included in connector sets for the Kinetix 6000 and Kinetix 7000 safe off drives Replacement Connector Sets Module Cat No Description Cat No 2094 05 5 2094 09 02 5 2094 AMP5 S 2094 01 5 2094 XNINV 1 2094 02 5 2094 16 03 5 2094 AC32 M05 S Ws MP Jresistive brake BC 2094 03 5 2094 AMO5 S ncludes motor power motor resistive brake BC 2094 ANINV 2 MEE TR IAM and AM 2094 BC04 M03 S 2094 BM03 S and safe off S0 replacement connectors for the IAM inverter and AM 2094 BC01 Mxx S 2094 BC02 M02 S 2094 BMP5 S 2094 BM01 S 2094 XNINV 1 2094 BM02 S 2094 07 05 5 2094 05 5 2094 2 NOR 5 Includes safe off 50 general purpose 1 0 GPIO De 7000 High Power 2099 BMxx S general purpose relay GPR and control power CP 2099 K7KCK 1 replacement connectors for Kinetix 7000 drives Publication GMC RMOO2E EN P
10. Japeay Z3 18 VN3 1339 20290002 05 711803 jo ejes X804 27803 0804 15521 xIBo1 011u09 b m E 0007 10 INV INVI 0009 W i Q 19N92 eQ 8 0 95 1 1 q51 95 105592044 xiBo1piens 191 96 43 July 2008 Publication GMC RMOO2E EN P Kinetix Safe off Wiring Diagrams Appendix B Multi axis GuardLogix Configuration Stop Category 0 340W 10 01621 asn 18N 3IA pue jenuey asf 818 04007 0009X1607 s npojAj 34 01 18434 aq 15 19 043u02 Aj9Jes ay Buruorssiuuuio2 pue 2160 1900111
11. Safe off Control Circuit Connections 4 Middle drive Headers 020000 First drive Wiring Header 20 88 a In this example system 1 contains two single wide Kinetix 6000 drives using the safe 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 off feature so the wiring header and motion allowed jumper remain installed Typical Kinetix 6000 Safe off Configuration 2090 XNSM M Last drive Header 2090 XNSM T D 2090 XNSM W am 55 e Wiring Plug Header with Motion allowed Jumper 1202 C02 1202 C10 Drive to Drive Safe off Cables 1202 C03 Kinetix 6000 Drives Kinetix 6000 Drives Al System 1 a 5 System 2 E 28 IMPORTANT Due to the current capacity limitation of the safe off cable connectors multiple safe off drive configurations must not exceed eight Kinetix
12. 318VN3 134 5 v NA NA NU 318VN3 4 5 WINSNX 0607 z318VN3 AL3HVS NA NA NU Japeay 3514 pl 4803 1013euuo QS jo 9Jes 73904 6803 000 10 INW INVI 0009 sindu 02 821 55 1 0091 819 9 1 lt Z IG Id e 5 NOI AvZ ejqeu3 6 10138uu0 001 0 1 1 WSNX 0602 Japeay 2 0021 Ui 10198uu09 QS jo ojes J0 8JeS enu 000 9701 10 INV INVI 0009 e2ej18ju 40 885 NU NL NU o NU 9 LE 96 SE t ZELE 0 62 82 2 92 SZ 2 62 ZZ 12 0261 81 1191 GL vL L 6181 1 51 19L 91 01 21481 121 LLOL 6581 7 Id Id Id sindino 8 pieno 3p Ajddng Avc 49 July 2008 Publication GMC RMOO2E EN P Appendix B Kinetix Safe off Wiring Diagrams 50 Publication 6MC RM002E EN P July 2008 Publication GMC RMOO2E EN P July 2008 Numerics 1002 5 14 A about this publication 5 B block diagram 32 C cables
13. FDBK1 4 Safe off FDBK1 SO Connector I SAFETY ENABLE2 With 6 Wiring Header SAFETY ENABLE 7 SAFETY ENABLE1 NC 8 24V NC 9 24V COM 24V Power Supply 30 IMPORTANT N 24V e 24V Com Pins S0 8 internal 24V supply and 50 9 24V COM are used only by the motion allowed jumper to defeat the safe off function When the safe off function is in operation the 24V supply must come from an external source Publication GMC RMOO2E EN P July 2008 Wiring Your Kinetix Safe off Drive Chapter 3 Single Drive Stop Category 1 with Safety Relay Configuration Kinetix 6000 IAM AM or Kinetix 7000 Drive Safety Relay Rated for SIL3 per IEC 61508 1 I 1 24V Co Estop Out 22 FDBK2 2 i FDBK2 24V Estop Out 12 3 Safe off Demand i FDBK1 Estop IN 11 FDBK1 Safe off 5 SAFETY 2 SO Connector Estop IN 21 ae SAFETY ENABLE Wiring Header 7 Reset Out 12 a SAFETY ENABLE1 Reset PB NC 8 24V Reset IN 21 NC 9 24V COM 13 14 1 0 100 Connector 1 23 a Hardware Enable 24V 2 4 Hardware Enable Input
14. Ks a KP e en Pee S 979 3 50 c c nna S0 Connector a e C LIS a H p erus c ETT Cop TI H gt Cre a FI coe E n ni 5 1 4 EE Eg ELLE a al iii Kinetix 7000 Drive Module Top View 2099 BM06 S is shown Publication GMC RMOO2E EN P July 2008 19 Chapter 2 Safe off Connector Data Understanding Safe off Connections Kinetix 6000 or Kinetix 7000 Drive Kinetix 6000 axis module is shown 20 The safe 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 off function Safe off Headers An assortment of headers when wired and plugged into the safe off SO connector make implementation possible as described in this table Description Cat No icu header for the first drive in multiple safety drive configurations 2090 XNSM W Safe off middle header for drive to drive connections in multiple safety drive 2090 XNSM M configurations with three or more drives optional Safe off terminating header for the last drive in multiple safety dri
15. Nat ional 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 Publication GMC RMOO2E EN P July 2008 SIL 3 Certification Publication GMC RMOO2E EN P July 2008 Chapter 1 Safety Concept and Troubleshooting This chapter introduces you to the Safety Integrity Level SIL concept and how the Kinetix 6000 and Kinetix 7000 safe off drives meet the requirements for SIL 3 applications This chapter also provides a troubleshooting table and flowchart for understanding the safe off mode Topic Page SIL 3 Certification 7 Description of Operation 9 Functional Proof Tests 10 Safe off Drive Components 13 PFD and PFH Specifications 14 Contact Information Should Device Failure Occur 15 The Kinetix 6000 and Kinetix 7000 safe off drives are type approved and certified for use in safety applications up to and including SIL 3 according to IEC 61508 and applications up to and including safety category CAT 3 according to EN 954 1 SIL requirements are based o
16. These units are tested to meet Council Directive 2006 95 EC Low Voltage Directive The EN 60204 1 Safety of Machinery Electrical Equipment of Machines Part 1 Specification for General Requirements standard applies in whole or in part Additionally the standard EN 50178 Electronic Equipment for use in Power Installations will apply in whole or in part The Kinetix safe off drives when used with suitable safety components provides protection according to EN 954 1 Safety Category 3 and IEC 61508 SIL 3 for safe off and protection against restart The safe 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 Kinetix safe off drives are designed to safely remove power from the gate firing circuits of the drive s output power devices 5 This prevents them from switching in the pattern necessary to generate ac power to the motor You can use the Kinetix safe off drives in combination with other safety devices to meet the stop and protection against restart requirements of EN 954 1 This option is suitable for performing mechanical work on the drive system or affected area of a machine only It does not provide electrical safety Publication GMC RMOO2E EN P July 2008 Wiring Your Kinetix Safe off Drive Chapter 3 To avoid an electric shock hazard verify that the voltage on the bus capacitors has disc
17. IAM AM or Interface Cable Kinetix 7000 Drive 1202 Cxx Safe off S0 Connector with Terminating Header 2090 XNSM T 1 0 100 Connector Hardware Enable Input 24V COM Publication GMC RMOO2E EN P July 2008 41 connector is shown wired to an Allen Bradley GuardLogix controller In these diagrams the Kinetix 6000 and Kinetix 7000 drive safe off Single axis GuardLogix Configuration Stop Category 0 Kinetix Safe off Wiring Diagrams Kinetix Safe off GuardLogix Configurations Appendix B July 2008 Uoneuuojui JO 7004 50 162 jenueyy asn 18N 3IA8 ay pue si M S C POOINN LING uoneorjgnd enue asn swaysAs 041002 0009X1607 s npojAJ 18N921 8 01 19 84 2 oc peunBijuoo aq 15 ay Jo 1551 2 pue 3160 190044 INVLYOdINI 2 co 8 LL zJ puewag JJ0 ajes M 1109 WOO AZ 19 19 19 19 19 19 19 fia 19 19 ZL uL tL OL 09 A jon
18. for engineers or technicians directly involved in the installation and wiring of the Kinetix 6000 and Kinetix 7000 drives and programmers directly involved in the operation field maintenance and integration of the Kinetix 6000 and Kinetix 7000 drives in a safe 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 e Bulleted lists such as this one provide information not procedural steps e 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 One Out of Two Safety Architecture Consists of two channels connected in parallel such that either channel can process the safety function Thus a 1002 One Out of Two dangerous failure would have to occur in both channels before a safety function failed on demand Diagnostic m DC Coverage he ratio of the detected failure rate to the total failure rate EN European Norm The official European standard PFD Probability of The average probability of a system to fail to perform its design function on Failure Demand demand PFH Probability The probability of to have a d fail h Failure per Hour e probability of a sys
19. 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 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 IMPORTANT A Kma Identifies information that is critical for successful application and understanding of the product ATTENTION A 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 A Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures Allen Bradley GuardLogix GuardPLC Kinetix Rockwell Automation RSLogix 5000 Logix5000 RSLogix and TechConnect are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Safety Concept and Troubleshooting Safe off Connector Data Wiring Your Ki
20. operation 26 when failure occurs 15 wiring example stop cat 0 30 wiring example stop cat 1 31 wiring requirements 33 safety products catalog 37 safety relay examples 38 SFF 5 14 SIL 3 certification T V Rheinland 7 user responsibilities 8 SO connector 17 specifications safe off enable signals 36 safe off feedback signals 36 safe off response time 35 T terminology 5 training 5 troubleshooting error code E 9 10 flowchart 12 safe off condition 11 safe off drive fault 11 table 10 W who should use this manual 5 wiring GuardLogix examples 42 GuardPLC examples 46 safety relay examples 38 stop cat 0 example 30 stop cat 1 example 31 wiring plug header 21 wiring requirements 33 Publication GMC RMOO2E EN P July 2008 Notes Publication GMC RMOO2E EN P July 2008 Notes Publication GMC RMOO2E EN P July 2008 Rockwell Automation Support www rockwellautomation com Rockwell Automation provides technical information on the Web to assist you in using its products At http support rockwellautomation com you can find technical manuals a knowledge base of FAQs 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 For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect Support programs For more information contact
21. the diagrams beginning below the Kinetix 6000 and Kinetix 7000 drive safe off connector is shown wired to an Allen Bradley safety Safe off SO Connector with Wiring Header Publication GMC RMOO2E EN P July 2008 Kinetix Safe off Wiring Diagrams Appendix B External 24 dc Single axis Relay Configuration Stop Category 1 Safe off Demand Allen Bradley Monitoring Safety Relay MSR138 1DP 440R M23088 Kinetix 6000 IAM AM or Kinetix 7000 Drive External 24V COM Publication GMC RMOO2E EN P July 2008 Safe off 50 Connector with Wiring Header FDBK2 2 FDBK2 3 FDBK1 4 FDBK1 5 SAFETY ENABLE2 6 SAFETY ENABLE 7 SAFETY ENABLE1 N C 8 24V N C 9 24V COM 1 0 100 Connector 1 Hardware Enable 24V 2 Hardware Enable Input 39 Appendix B Kinetix Safe off Wiring Diagrams Multi axis Relay Configuration Stop Category 0 External 24V dc Reset Kinetix 6000 IAM AM or Kinetix 7000 Drive 1 FDBK2 2 FDBK2 3 Allen Bradley FDBK1 Safe off Monitoring Safety Relay 4 FDBK1 50 Connector MSR127RP 440R N23135 5 _ with SAFETY 2 First drive 6 Wiring Header S
22. your local distributor or Rockwell Automation representative or visit http support rockwellautomation com Installation Assistance If you experience a problem with a hardware module within the first 24 hours of installation please review the information that s contained in this manual You can also contact a special Customer Support number for initial help in getting your module up and running United States 1 440 646 3434 Monday Friday 8am 5pm EST Outside United Please contact your local Rockwell Automation representative for any States technical support issues New Product Satisfaction Return Rockwell tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning it may need to be returned United States Contact your distributor You must provide a Customer Support case number see phone number above to obtain one to your distributor in order to complete the return process Outside United Please contact your local Rockwell Automation representative for States return procedure 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 Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 As
23. 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 Publication GMC RMOO2E EN P July 2008 Wiring Your Kinetix Safe off Drive Chapter 3 In this example the Kinetix 6000 power rail contains three single wide drives using the safe off feature and wired with one Kinetix 7000 drive The wiring headers and motion allowed jumpers have been replaced as shown Typical Kinetix 6000 to Kinetix 7000 Safe off Configuration Safe off Control Circuit Connections Y 4 Middle drive Headers IB lt q 2090 XNSM M TOHE First drive Wiring Header QosoxNsM w 8 Last drive Header 1 2090 XNSM T 1202 C02 1202 C02 Drive to Drive Safe off Cables 1202 C10 Kinetix s d d Kinetix 7000 Drive E ED f 9
24. AFETY ENABLE 2090 XNSM W 7 SAFETY ENABLE1 p External 24 COM Safe off Interface Cable Kinetix 6000 IAM AM or 1202 Kinetix 7000 Drive Safe off 50 Connector with Middle Header 2090 XNSM M Kinetix 6000 IAM AM or Safe off Kinetix 7000 Drive Interface Cable 1202 Safe off SO Connector with Terminating Header 2090 XNSM T 40 Publication GMC RMOO2E EN P July 2008 Kinetix Safe off Wiring Diagrams Appendix B Multi axis Relay Configuration Stop Category 1 External 24V dc e Safe off Demand Kinetix 6000 IAM AM or BET Reset Kinetix 7000 Drive zm 1 FDBK2 2 FDBK2 3 FDBK1 Safe off 4 FDBK1 50 Connector 5 with Allen Bradley Monitoring Safety Relay SAFETY ENABLE2 First drive MSR138 1DP 440R M23088 6 Wiring Header SAFETY ENABLE 2090 XNSM W SAFETY ENABLE1 ma External 24V COM 1 0 IOD Connector Hardware Enable Input External 24 COM 24V COM Safe off Interface Cable 1202 Cxx Kinetix 6000 IAM AM or Kinetix 7000 Drive Safe off S0 Connector with Middle Header 2090 XNSM M 1 0 100 Connector Hardware Enable Input e 1 24V COM Safe off Kinetix 6000
25. D and PFH Calculation Examples Functional Drive Component Verification Test PFD t PFH t Interval Kinetix 6000 drives 1 year 1 70E 06 3 88E 10 2094 ACxx Mxx S 2094 BCxx Mxx S and 2094 AMxx S and 2094 BMxx S Kinetix 7000 drives 15 year 2 73E 05 4 31E 10 2099 5 When the machine design uses more than one drive in the ng where either axis independently or concurrently hazardous condition the values for PFD and PFH must ied by the number of axes to determine the value at ne level For example if a machine load station has a and a vertical axis and if either axis remaining in motion can present a hazard the values for PFD and PFH must safety stri present a be multip the machi horizonta be multip ied by two If you experience a failure with any SIL 3 certified device contact your local Rockwell Automation distributor With this contact you can e return the device to Rockwell Automation so the failure is appropriately logged for the catalog number affected and a record is made of the failure e request a failure analysis Gf necessary to determine the probable cause of the failure Chapter 1 Safety Concept and Troubleshooting 16 Publication GMC RMOO2E EN P July 2008 Connector Data Chapter 2 Safe off Connector Data This chapter provides safe off SO connector header and interface cable information for the Kinetix 6000 and Kinetix 7000 safe off
26. Energized indicates safe off fault Normal operation of the safe off function if monitored and verified constitutes the proof test You can verify the safe off state in RSLogix 5000 software When either or both coils are de energized axis SafeOffModeActiveStatus is set however only safe off mismatch results in error code E49 Troubleshooting the Safe off Function Problem or Symptom Safe off function mismatch Drive will not allow motion ATTENTION Potential Cause e Loose wiring at safe off SO connector e Cable header not seated properly in safe off SO connector Safe off circuit missing 24V dc to verify correct operation Possible Resolution e Verify wire terminations cable header connections and 241 e Reset error and run proof test e f error persists return the drive to Rockwell Automation The safe off fault E49 is detected upon demand of the safe off function After troubleshooting a proof test must be performed Publication GMC RMOO2E EN P July 2008 Safety Concept and Troubleshooting Chapter 1 Publication GMC RMOO2E EN P July 2008 Understanding the Safe off Condition vs Drive Fault When both coils de energize within the 25 ms response time a fault has not occurred E49 is not displayed however a safe off condition exists The safe off condition occurs through normal drive operation A mismatch occurs when one coil is de energized while the oth
27. July 2008 17 Chapter 2 Safe off Connector Data Safe off SO Connector Pinouts Headers extend the safe off SO connector signals for use in wiring single and multiple safe off drive configurations or to defeat not use the safe off function 9 pin Safe off SO Connector Connector Pin SO Connector Headers Description Signal 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 Anus in One side of the normally closed monitoring contact of relay 1 FDBK1 4 e First drive wiring header Other side of the normally closed monitoring contact of relay 1 FDBK1 5 n Coil of safety relay 2 SAFETY ENABLE2 6 Return for safety relay coil power both relays SAFETY ENABLE 7 Coil of safety relay 1 SAFETY ENABLE1 8 e Wiring plug header Output power for continuous enable of the safety function 500 mA max 24 9 Motion allowed jumper Output power return used for continuous enable of safety function 24 COM Pins S0 8 internal 24V supply and 50 9 24V_COM are used only by the motion allowed jumper to defeat the safe off function When the safe off function is in operation the 24V supply must come from an external source 18 Publication GMC RMOO2E EN P July 2008 Safe off Connector Data Chapter 2 9 pin Safe off SO Connector Kinetix 6000 Drive
28. Kinetix Safe off Feature Safety Reference Manual Bulletin Numbers 2094 and 2099 Rockwell 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 literature rockwellautomation com describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this
29. N 13849 Safe off SO Connector Recommended Wire Size Stranded Wire M Strip Length Torque Value Pin Signal with Ferrule solid Wire mm in Nem mm AWG mm AWG 50 1 FDBK2 50 2 FDBK2 50 3 FDBK1 50 4 FDBK1 50 5 SAFETY ENABLE2 0 75 18 1 5 16 7 0 0 275 0 235 2 0 50 6 50 7 SAFETY ENABLE1 50 8 24V 50 9 24V COM Pins 50 8 internal 24V supply 50 9 24V COM are used only by the motion allowed jumper to defeat the safe off function When the safe off function is in operation the 24V supply must come from an external source IMPORTANT To be sure of system performance run wires and cables in the wireways as established in the user manual for your drive Refer to Additional Resources on page 6 for the appropriate publication Refer to Appendix B beginning on page 37 for Kinetix 6000 interconnect diagrams with other Allen Bradley safety products Publication GMC RMOO2E EN P July 2008 33 Chapter 3 Wiring Your Kinetix Safe off Drive 34 Publication GMC RMOO2E EN P July 2008 Appendix A Specifications This chapter provides safe off feature specifications for your Kinetix 6000 and Kinetix 7000 drives Topic Page Safe off Response Time Specifications 35 Safe off Signal Specifications 36 Safe off Response Time The system reaction time is the amount of time from a safety related event as input to the system until the system i
30. apter 3 European Union Directives 25 EMG Ine ie ede eb usa nA e 25 2 Ree 26 Low Voltage Directive 26 Understanding the Kinetix Safe off 26 Safe off Connection Examples 27 Safe off Wiring Examples for SIL 3 Applications 30 Safe off Block Diagram 32 Safe off Wiring 33 Appendix A Safe off Response Time Specifications 35 Safe off Signal Specifications 36 Safe off ENABLE Signal Specifications 36 Safe off FDBK Signal 5 36 Table of Contents Appendix B Kinetix Safe off Wiring Diagrams Kinetix Safe off Safety Relay Configurations 38 Kinetix Safe off GuardLogix Configurations 42 Kinetix Safe off GuardPLC Configurations 46 4 Publication GMC RMOO2E EN P July 2008 Preface About This Publication Who Should Use This Manual Conventions Used in This Manual Understanding Terminology This manual provides detailed installation instructions for wiring and troubleshooting your Kinetix 6000 and Kinetix 7000 safe off drives Included are interconnect diagrams with Allen Bradley safety relays GuardLogix controllers and GuardPLC controllers This manual is intended
31. drive to drive 23 28 29 catalog safety products 37 category 3 requirements 8 stop category definitions 8 CE CE conformity 26 complying with CE 25 meeting requirements 26 connector location 19 connector pinout 18 conventions 5 D drive components 13 drive to drive cables 28 29 E EMC directive 25 EN 954 1 3 7 requirements 8 stop category definitions 8 enable signal specifications 36 F failure 15 feedback signal specifications 36 first drive wiring header 21 G GuardLogix examples 42 GuardPLC examples 46 H hardware fault tolerance 14 Index headers 20 first drive wiring 21 last drive 22 middle drive 22 motion allowed jumper 20 wiring plug 21 HFT 5 14 IEC 61508 SIL 3 certification 7 L last drive header 22 low voltage directive 26 middle drive header 22 motion allowed jumper 20 0 one out of two 1002 5 14 operation 9 understanding 26 P PFD 5 calculation 14 definition 14 example 15 PFH 5 calculation 14 definition 14 example 15 proof tests 10 related documentation 6 response time 11 specifications 35 S safe failure fraction 14 safe off condition 11 drive fault 11 mismatch 10 51 Index 52 safe off feature block diagram 32 connector location 19 connector pinout 18 drive components 13 GuardLogix examples 42 GuardPLC examples 46 headers 20 interface cables 23 operation 9 proof tests 10 safety relay examples 38 SO connector 17 understanding
32. er coil is energized outside of the 25 ms response time This causes the E49 error code to display and the drive begins a shutdown sequence Causes for a mismatch include e wiring anomalies at the Safe off SO connector pins SO 5 and SO 7 or the external monitoring relay e coil anomalies associated with the Safe off SO connector pins SO 5 and 50 7 e sequencing errors in the program e EMI interference To determine if you have a safe off fault or condition you must examine the Axis Servo Drive status bit in RSLogix 5000 software e If bit status is 0 then no safe off condition or fault exists e If bit status is 1 then a safe off condition or fault does exist RSLogix 5000 Software v15 Safe off Status Bit safe test2 DriveStatus 11 0 Decimal safe test2 DriveStatus 12 0 Decimal safe test2 DriveStatus 13 1 Decimal safe_test2 DriveStatus 14 0 Decimal safe test2 DriveStatus 15 Decimal In the RSLogix 5000 version 15 example the axis DriveStatus 14 bit is set to 0 indicating the drive is not in Safe off mode No safe off condition or fault exists RSLogix 5000 Software v16 Safe off Status Bit safe test2 NegO vertravellnputStatus 0 Decimal safe test2 EnablelnputStatus Decimal safe_test2 AccelLimitStatus 0 Decimal safe test2 AbsoluteR eferenceStatus 0 Decimal safe test2 SafeDifModeActiveStatus Decimal In the RSLogix 5000 version 16 example the axis SafeOffModeActiveStatus bit is se
33. harged before performing any work on the drive Be sure the dc bus voltage across the DC and DC terminals or test points is zero volts Refer to Additional Resources on page 6 for the appropriate drive manual with the terminal locations In safe off mode hazardous voltages may still be present at the motor To avoid an electric shock hazard disconnect power to the motor and verify that the voltage is zero before performing any work on the motor Safe off Connection Examples Typical safe off connections for the Kinetix 6000 and Kinetix 7000 drives are shown in the figures below In this example a single Kinetix 6000 safe off drive is shown using the wiring plug header The second and third drives do not use the safe off feature so the motion allowed jumpers remain installed Typical Single Drive Safe off Configuration Safe off Control Circuit Wiring Plug Header Connections Kinetix 6000 or Kinetix 7000 Drives Kinetix 6000 drive is shown Wiring Plug Headers with Motion allowed Jumper 6 8 0 6 t Z gt s P E 8 L 9 0 v C 19 BUDE To Publication GMC RMOO2E EN P July 2008 2 Chapter 3 Wiring Your Kinetix Safe off Drive
34. ia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication GMC RMOO2E EN P July 2008 Supersedes Publication GMC RM002D EN P January 2007 Copyright 2008 Rockwell Automation Inc All rights reserved Printed in the U S A
35. ing and configuring the 1791DS Series modules Sys pub em Design for Control of Electrical Noise Reference Manual ication 001 EMC Noise Management DVD GMC SP004 Information examples and techniques designed to minimize system failures caused by electrical noise Roc website http ab com e tools well Automation Configuration and Selection Tools website 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 App lication 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 EN 61508 Aspects to be considered when electrical electronic programmable electronic systems are used to carry out safety functions
36. ix B Kinetix Safe off Wiring Diagrams This appendix provides typical wiring diagrams for the Kinetix 6000 and Kinetix 7000 safe off drives with other Allen Bradley safety products Topic Kinetix Safe off Safety Relay Configurations Page 38 Kinetix Safe off GuardLogix Configurations 42 Kinetix Safe off GuardPLC Configurations 46 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 ab com catalogs 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 Publication GMC RMOO2E EN P July 2008 37 Appendix B Kinetix Safe off Wiring Diagrams Kinetix Safe off Safety Relay Configurations 38 relay Single axis Relay Configuration Stop Category 0 External 24V dc Safe off Demand Allen Bradley Monitoring Safety Relay MSR127RP 440R N23135 Kinetix 6000 IAM AM or Kinetix 7000 Drive FDBK2 FDBK2 FDBK1 FDBK1 SAFETY ENABLE2 SAFETY ENABLE SAFETY ENABLE1 24V 24V_COM External 24V COM In
37. ms 440 3425 47 tion Stop Category 1 igura GuardPLC Conf axis Single 10 INV NVI 0009 xnaury T m lt s 10 Ob BE LE 9E SEYE EE ZELE 0E 6Z 82 Z 9Z SZ 1262 22 12 0261 81119157016 NOI LAU 10261 BL 1 51 19L SL 1 1 51 12L LLOL 6 51 18 L 9 941 71 Z 1 1 IG IG IG IG Id jndu 19 43 oe 19139100 00 0 Mei 0091 INO AW u liv 6 z 00 8 ON 318VN3 AL3HVS i 318VN3 1339 Japeay 9 UMA 318VN3 1335 L L AU 10128uuo QS 13904 Avc jjo 9jes 7 804 Ajddngs 1 03804 23905 000 July 2008 Publication GMC RMOO2E EN P Kinetix Safe off Wiring Diagrams Appendix B tion Stop Category 0 igura GuardPLC Conf i axis Mult puewag 440 3429 od HATA
38. n 33 34 13 44 Time Delay Contacts 24V Power Supply an 24V 24V Com Pins 50 8 internal 24V supply and S0 9 24V COM are used only by the motion allowed jumper to defeat the safe off function When the safe off function is in operation the 24V supply must come from an external source Publication GMC RMOO2E EN P July 2008 31 Chapter 3 Wiring Your Kinetix Safe off Drive Safe off Block Diagram The safe off block diagram is shown below with the wiring header and motion allowed jumper installed This is the default configuration With the motion allowed jumper installed the safe off feature is not used Safe off Function Block Diagram Safe off Option Safe off SO j Gate Control 9 pin Connector EFF Power Supply 24V Safety Monitor Gate Control uC Circuit CCP Motion allowed Jumper Gate Control Enable Signal Wiring Plug Header 24V DRIVE ENABLE 24V_COM 32 Publication GMC RM002E EN P July 2008 Wiring Your Kinetix Safe off Drive Chapter 3 Safe off Wiring These are the safe off SO wiring requirements Wire should be Requirements copper with 75 C 167 F minimum rating The National Electrical Code and local electrical codes take precedence over the values and methods provided IMPORTANT Stranded wires must terminate with ferrules to prevent short circuits per table D7 of E
39. n stops before power is removed IMPORTANT In the event of drive or control failure the most likely stop category is category 0 When designing the machine application timing and distance should be considered for a coast to stop For more information regarding stop categories refer to EN 60204 1 8 Publication GMC RMOO2E EN P July 2008 Description of Operation Publication GMC RMOO2E EN P July 2008 Safety Concept and Troubleshooting Chapter 1 The safe off feature provides a method with sufficiently low probability of failure on demand to force the six power transistor control signals going to the power module to a disabled state When disabled or any time power is removed from the safety enable inputs all six of the power module s output power transistors are released from the ON state effectively removing motive power generated by the drive This results in a condition where the motor is in a coasting condition stop category 0 Stop category 1 may be achieved with the addition of an external delay element Disabling the power transistor output does not provide mechanical isolation of the electrical output which may be required for some applications Under normal drive operation the safe off relays are energized If either of the safety enable inputs are de energized the gate control circuit is disabled To meet EN 954 1 safety category 3 and IEC 61508 SIL 3 operation both safety channels coil 1 and coil 2 mus
40. n the standards current at the time of certification The Rheinland group has approved the Kinetix 6000 and Kinetix 7000 drives for use in safety related applications up to SIL 3 in which the de energized state is considered to be the safe state AII of the examples related to I O included in this manual are based on achieving de energization as the safe state for typical machine safety systems Chapter 1 Safety Concept and Troubleshooting PPTPS dg he system user is responsible for e the set up SIL rating and validation of any sensors or actuators connected to the drive system e completing a machine level risk assessment e certification of the machine to the desired EN 954 category or IEC 61508 SIL level e project management and proof testing e programming the application software and the device configurations in accordance with the information in this safety reference manual and the drive product manual Safety Category 3 Requirements Safety related parts shall be designed such that e Asingle fault in any of these parts does not lead to the loss of the safety function e Asingle fault is detected whenever reasonably practicable e Accumulation of undetected faults can lead to the loss of the safety function Stop Category Definitions Stop categories 0 and 1 are defined as follows e Stop category 0 is achieved with immediate removal of power to the actuator e Stop category 1 is achieved when motio
41. netix Safe off Drive Specifications Publication GMC RMOO2E EN P July 2008 Table of Contents Preface Important User Information 2 About This Publication 5 Who Should Use This Manual 5 Conventions Used in This Manual 5 Understanding 5 Additional 6 Chapter1 SUL SGT CATION Leg sp det ec Ve usa cese dnt 7 Safety Category 3 Requirements 8 Stop Category 8 Description of 9 Functional Proof 10 Troubleshooting the Safe off Function 10 Understanding the Safe off Condition versus Drive Fault 11 Safe off Drive 13 PED and PFH 14 Definitions of PFD and PFH 14 PFD and PFH Calculations 14 Contact Information Should Device Failure 15 Chapter 2 CODDECLOE ego bep reo 17 Safe off SO Connector 18 Understanding Safe off Connections 20 rae s oce adl a ee sa 20 Safe off Header Configurations 20 Safe off Interface Cables 23 Ch
42. off feature 230V 2094 AC16 M03 S 2094 AM03 S 2094 32 05 5 2094 05 5 2094 BC01 MP5 S 2094 BMP5 S 2094 01 01 5 2094 BM01 S Kinetix 6000 IAM AM module with 2094 BC02 M02 S 2094 BM02 S safe off feature 460V 2094 BC04 M03 S 2094 03 5 2094 07 05 5 2094 05 5 Slots of a SIL 3 system power not used by the SIL 3 system may be populated with other axis modules that are certified to the Low Voltage and EMC Directives Refer to http rockwellautomation com products certification to find the certificate for the Kinetix 6000 family The SIL 3 certified Kinetix 7000 drive components are listed in this table For the most current list of components see http rockwellautomation com roducts certification safety Bulletin 2099 SIL 3 Certified Components Kinetix 7000 High Power Servo Drive Cat No 2099 06 5 2099 07 5 2099 08 5 2099 09 5 2099 10 5 2099 11 5 For product documentation refer to Additional Resources on page 6 13 Chapter 1 Safety Concept and Troubleshooting PFD and PFH Specifications This section provides PFD and PFH definitions and calculation examples for the Kinetix 6000 and Kinetix 7000 safe off drives Definitions of PFD and PFH Kinetix 6000 and Kinetix 7000 safe off drives operate in either a Low Demand mode or in a High Demand Continuous mode In Low Demand mode operation
43. ondition Complete MSF instruction software Resolve safe off fault Complete MASR instruction MSO instruction or next program step Finish This is a safe off condition because the safe off status bit is set to 1 without an E49 error code After the condition is fixed the motion planner must be signaled that the position loop has opened in the condition state with a Motion Servo Off MSF instruction before the next Motion Servo On MSO instruction can take place The MSF instruction is necessary because the drive is enabled and running 2 This is also a safe off condition the safe off status bit is set to 1 without an E49 error code The safe off condition must be resolved but because the drive is not enabled and running the MSF instruction is not necessary 12 Publication GMC RMOO2E EN P July 2008 Safety Concept and Troubleshooting Chapter 1 Publication GMC RMOO2E EN P July 2008 Safe off Drive Components The SIL 3 certified Kinetix 6000 drive components are listed in this table For the most current list of components see http rockwellautomation com products certification safety Bulletin 2094 SIL3 Certified Components IAM Module Cat No AM Module Cat No 2094 05 5 5 2094 AMP5 S 2094 05 01 5 2094 01 5 Kinetix 6000 IAM AM module with 2094 09 02 5 2094 02 5 safe
44. r EEC regions and has the CE mark the following regulations will apply For more information on the concept of electrical noise reduction refer to System Design for Control of Electrical Noise Reference Manual publication GMC RMO01 EMC Directive This unit will be tested to meet Council Directive 2004 108 EC Electromagnetic Compatibility using the following standards in whole or in part EN 61800 3 Adjustable Speed Electrical Power Drive Systems Part 3 EMC Product Standard including specific test methods e 61000 6 4 EMC Emission Standard Part 2 Industrial Environment EN 61000 6 2 Immunity Standard Part 2 Industrial Environment The product described in this manual is intended for use in an industrial environment Publication GMC RMOO2E EN P July 2008 25 Chapter 3 Wiring Your Kinetix Safe off Drive Understanding the Kinetix Safe off Feature 26 CE Conformity Conformity with the Low Voltage Directive and Electromagnetic Compatibility EMC Directive is demonstrated using harmonized European Norm EN standards published in the Official Journal of the European Communities Kinetix safe off drives comply with the EN standards when installed according to the applicable user documentation refer to Additional Resources on page 6 CE Declarations of Conformity are available online at http rockwellautomation com products certification ce Low Voltage Directive
45. rive Kinetix 6000 axis module is shown Safe off terminals for input wiring 50 1 50 7 Do not Use the first drive 2090 XNSM W wiring header in single drive applications First drive Wiring Header Pin Assignment 501234567 Q9 O9 O9 O9 09 09 09 0 Publication GMC RMOO2E EN P July 2008 21 Chapter 2 Safe off Connector Data 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 off drive configurations of three or more use this header for making the safe off connections between drives 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 Next and previous drive cable connection to the middle header catalog number 2090 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 off drive configurations for making safe off connections to the last drive 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
46. s in the safe state Faults within the system can also have an effect upon the reaction time of the system The safe off response time for the Kinetix 6000 and Kinetix 7000 safe 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 The safe off response time is typical of drive performance Actual system response time will vary depending on your application Specifications Publication GMC RMOO2E EN P July 2008 35 Appendix A Specifications Safe off Signal Specifications 36 The following tables provide specifications for the safe off signals used in the Kinetix 6000 and Kinetix 7000 safe off drives Safe off ENABLE Signal Specifications Relay coil specifications for the ENABLE signals are described in this table Parameter Nom Min Max Pull in Voltage 24V 18V 26 4V Drop out Voltage 0 24 Coil Resistance 720 Q 648 Q 792 Q Coil Current 33 3 mA 55 0 mA Pull in Time 25 ms E Drop out Time 20 ms Safe off FDBK Signal Specifications Relay contact specifications for the FDBK signals are described in the table below Parameter Contact Resistance 1 A 24V dc Contact Resistance 10 mA 5V dc Contact Load min Value 100 2200 10 mA 5V dc Rated Current 8A Rated Voltage 240V ac Breaking Capacity ac max 2000VA Publication GMC RMOO2E EN P July 2008 Append
47. t be used and monitored ATTENTION Permanent magnet motors may in the event of two simultaneous faults in the IGBT circuit result in a rotation of up to 180 electrical degrees Chapter 1 Safety Concept and Troubleshooting Functional Proof Tests Error Code E49 10 Fault Message RSLogix HIM DriveHardFault Safe off HW Flt EN 954 requires that functional proof tests be performed on the equipment used in the system Proof tests are performed at user defined intervals not to exceed one year IMPORTANT Users specific applications determine the time frame for the proof test interval but it must not exceed one year due to the use of electro mechanical relays internal to the drive as required by EN 954 To proof test the safe off function you must interrupt power to the inputs of the safe off function at pins SO 5 and SO 7 and verify that the drive is in the disabled state Refer to Safe off SO Connector Pinouts on page 18 for signal descriptions and pinouts Proof Test Truth Table Safety Function State Safe off function engaged Input Channel Coil 1 Coil 2 S0 7 S0 5 De energized De energized Drive Status Indication Drive output disabled Drive is in the safe off state Normal operation Energized Energized Drive operates as desired Safe off mismatch Energized De energized Drive output disabled Drive De energized
48. t to 0 indicating the drive is not in Safe off mode No safe off condition or fault exists 11 Chapter 1 Safety Concept and Troubleshooting Advanced Safe off Troubleshooting Flowchart Bulletin 2099 or Bulletin 2094 with safe off S drive Yes Refer to user manual for troubleshooting Bulletin 2094 drives without safe off RSLogix 5000 software v15 or v16 Go to RSLogix 5000 software Motion Group Go to RSLogix 5000 software gt Motion Group Axis Servo Drive tag name Monitor Axis tag Axis Servo Drive tag name Monitor Axis tag Axis Servo Drive DriveStatus bit 14 Axis Servo Drive SafeOffModeActiveStatus GUI Safe off status bit 1 0 No safe off fault or condition Both coils energized within 25 ms Was the axis Yes No enabled prior to reading bit Was error code Yes Yes Was error code E49 displayed E49 displayed Safe off condition exists through normal operation Both coils de energized Safe off fault exists within 25 ms of each other ismatch occurred outside of the 25 ms response time Safe off condition exists through normal operation Both coils de energized within 25 ms of each other Resolve safe off condition Drive Status Indicator Steady Red DriveHardFault and Axis Shutdown Resolve safe off c
49. tem to have a dangerous failure occur per hour Hardware Fault Equals N where N 1 faults could cause the loss of the safety function A HFT Tolerance hardware fault tolerance of 1 means that 2 faults are required before safety is lost SFF Safe Failure The sum of safe failures plus the sum of dangerous detected failures divided Fraction by the sum of all failures IGBT Insulated Gate Typical power switch used to control main current Publication GMC RMOO2E EN P July 2008 Bi polar Transistors Preface Additional Resources These documents contain additional information concerning related Rockwell Automation products Resource Kinetix 6000 Multi axis Servo Drive User Manual publication 2094 UM001 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 Dev pub iceNet Modules in Logix5000 Control Systems User Manual ication DNET UM004 Information on controlling devices on the DeviceNet network Dev iceNet Safety User Manual publication 179105 0 001 Information on install
50. the frequency of demands for operation made on a safety related system is no greater than one per year or no greater than twice the proof test frequency In High Demand or Continuous mode operation the frequency of demands for operation made on a safety related system is greater than once per year or greater than twice the proof check frequency 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 PFD and PFH Calculations The PFD and PFH calculations in the tables below are based on the equations from Part 6 of IEC 61508 with the following assumptions e The architecture is 1002 e detectable error in either channel will be detected on the next demand of the safe off function e The functional proof test interval T1 is 1 year The hardware fault tolerance equals 1 e The safe failure fraction SFF is 89 e The fraction of undetected common cause failures is 1 Publication GMC RM002E EN P July 2008 Contact Information Should Device Failure Occur Publication GMC RMOO2E EN P July 2008 Safety Concept and Troubleshooting Chapter 1 PF
51. ve 2090 XNSM T configurations optional Safe off Header Configurations In this example the Kinetix 6000 axis module is shown with the motion allowed jumper installed in the wiring plug header This header jumper combination default configuration ships with each Kinetix 6000 and Kinetix 7000 drive and enables drive operation without external safety circuit connections Motion allowed Jumper Motion allowed Jumper Safe off 50 Connector Wiring Plug Header Publication GMC RMOO2E EN P July 2008 Safe off Connector Data Chapter 2 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 single drive safe off applications Single Drive Wiring Header Kinetix 6000 or Kinetix 7000 Drive Kinetix 6000 axis module is shown Safe off terminals for input wiring 50 1 50 7 Wiring Plug Header 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 off drive configurations for wiring to a safety control circuit and extending the safe off circuitry to another drive First drive Wiring Header 2090 XNSM W Cable connector to second drive in safety circuit Kinetix 6000 or Kinetix 7000 D
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