Related Manuals for Allen-Bradley Kinetix 6200
Summary of Contents for Allen-Bradley Kinetix 6200
- Page 1 Safety Reference Manual Kinetix 6200 and Kinetix 6500 Safe Torque-off Multi-axis Servo Drives Catalog Numbers 2094-SE02F-M00-S0, 2094-EN02D-M01-S0...
- Page 2 Identifies information that is critical for successful application and understanding of the product. Allen-Bradley, Kinetix, RSLogix, TechConnect, Rockwell Automation, and Rockwell Software are trademarks of Rockwell Automation, Inc. Trademarks not belonging to Rockwell Automation are property of their respective companies.
- Page 3 Updated 2090-K6CK-D44M wiring examples to use 24VPWR (IOD-14, IOD-15) Chapter 4 Added 2090-K6CK-D44S0 wiring examples 29…30 Added Kinetix 6200/6500 cascading safe torque-off cable example Added 2090-CS0DSDS-AAxx cable pinout diagram and termination table Updated General Specifications with value for reset time Appendix A...
- Page 4 Summary of Changes Notes: Rockwell Automation Publication 2094-RM002B-EN-P - May 2012...
-
Page 5: Table Of Contents
Table of Contents Preface About This Publication..........7 Who Should Use This Manual . - Page 6 Table of Contents Chapter 4 Multi-axis Cascaded Systems Introduction ........... . . 27 Cascaded Configurations .
-
Page 7: Preface
Kinetix 6200 or Kinetix 6500 drives with safe torque-off functionality. You must have a basic understanding of electrical circuitry and familiarity with Kinetix 6200 and Kinetix 6500 drives. You must also be trained and experienced in the creation, operation, and maintenance of safety systems. Terminology The following table defines common safety terms used in this manual. -
Page 8: Additional Resources
2094-UM002 Kinetix 6200 and Kinetix 6500 servo drive system. Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Information on wiring, troubleshooting, and configuring your Kinetix 6200 and Kinetix 6500 Safety Reference Manual, publication 2094-RM001 servo drives with the safe speed-monitoring functionality. -
Page 9: Safety Concept
Chapter Safety Concept Introduction This chapter describes the safety performance level concept and how the Kinetix 6200 and Kinetix 6500 drives can meet the requirements for SIL CL3, CAT 4, or PLe applications. Topic Page Safety Certification PFD and PFH Definitions... -
Page 10: Important Safety Considerations
Chapter 1 Safety Concept Important Safety Considerations You are responsible for the following: • The set-up, safety rating, and validation of any sensors or actuators connected to the system • Completing a system-level risk assessment and reassessing the system any time a change is made •... -
Page 11: Performance Level And Safety Integrity Level (Sil) Cl3
Chapter 1 Safety Concept Performance Level and Safety Integrity Level (SIL) CL3 For safety-related control systems, Performance Level (PL), according to ISO 13849-1, and SIL levels, according to EN 61508 and EN 62061, include a rating of the system’s ability to perform its safety functions. All of the safety-related components of the control system must be included in both a risk assessment and the determination of the achieved levels. -
Page 12: Safe State
Chapter 1 Safety Concept Safe State The Safe State encompasses all operation that occurs outside of the other monitoring and stopping behavior defined as part of the drive. While the drive is in the Safe State, all safety control outputs are in their safe state (de-energized). When you cycle power, the drive enters the Safe State for self-testing. -
Page 13: Installation And Wiring
ATTENTION: Make sure that the electrical power supplied to the drive is switched off before making connections. Refer to the Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drive User Manual, publication 2094-UM002, for more information. Rockwell Automation Publication 2094-RM002B-EN-P - May 2012... -
Page 14: Power Supply Requirements
Chapter 2 Installation and Wiring Power Supply Requirements The external power supply must conform to the Directive 2006/95/EC Low Voltage, by applying the requirements of EN61131-2 Programmable Controllers, Part 2 - Equipment Requirements and Tests and one of the following: •... - Page 15 Safety Wires Aux Feedback and I/O and Cables Wires and Cables Refer to the Kinetix 6200 and Kinetix 6500 Modular Servo Drive User Manual, publication 2094-UM002, for other wiring examples using low-profile connector kits. Rockwell Automation Publication 2094-RM002B-EN-P - May 2012...
-
Page 16: Using The 2090-K6Ck-D44S0 Low-Profile Connector Kit
Shrink-wrapped Insulation Cascading S0 Safety Safe-off Cables Cable/Wires Cable/Wires Refer to the Kinetix 6200 and Kinetix 6500 Modular Servo Drive User Manual, publication 2094-UM002, for other wiring examples using low-profile connector kits. Rockwell Automation Publication 2094-RM002B-EN-P - May 2012... -
Page 17: Using The Motion-Allowed Plug
Installation and Wiring Using the Motion-allowed Plug Because the safe torque-off feature of Kinetix 6200 and Kinetix 6500 control modules (catalog numbers 2094-xx02x-M0x-S0) is not configured, the safe torque-off functionality is always operational. If you do not want to use the safe torque-off feature, wiring of the safe stop inputs (SS_IN_CH0/1) are still required to operate the drive. -
Page 18: Terminal Connections
Chapter 2 Installation and Wiring Terminal Connections Prepare wires for termination on the IOD connector with a 5 mm (0.2 in.) strip length. Tighten all terminal screws firmly and recheck them after all connections have been made. Recommended terminal screw torque is 0.4 N•m (3.5 lb•in). Refer to page 37 for the I/O signal electrical specifications. -
Page 19: Safe Torque-Off I/O Signals
Safe Stop Wiring Example Inputs The Kinetix 6200 and Kinetix 6500 drives have two sets of dual-channel inputs. Each dual-channel input supports the safe stop (SS) function of the drive. The SS_IN_CH0/1 inputs are intended for connection to a non-switching E-stop device (dry contact). -
Page 20: Discrepancy Time
Chapter 3 Safe Torque-off I/O Signals Figure 5 - Cycle Inputs Required Cycle Inputs Required Active Channel 0 Inactive Active Channel 1 Inactive Evaluated Status An Input fault occurs if the inputs are discrepant for longer than one second. For SS_IN_CH0/1, use TEST_OUT_0/1 as a reference signal, or a fault occurs. For more information on I/O faults, refer to Troubleshooting the Safe Torque-off Drive... - Page 21 Chapter 3 Safe Torque-off I/O Signals Figure 7 - Reset Behavior SS_IN_CH0 or SS_IN_CH2 SS_IN_CH1 or SS_IN_CH3 RESET_IN Fault 20 ms, max Gate Power and Gate Enable RESET_REQUIRED (waiting for reset) SO_REQUEST_VALUE SO_IN_VALUE IMPORTANT When the inactive ‘OFF’ state of RESET_IN transitions to the active ‘ON’ state, following a successful reset, the time to re-enable gate power and gate enable, and set dual-channel safe-off outputs to active ‘ON’...
- Page 22 Chapter 3 Safe Torque-off I/O Signals Figure 8 - Safety Input Wiring Examples Drive Drive Test_Out_0 (IOD-27) Test_Out_0 (IOD-27) Test_Out_1 (IOD-28) Test_Out_1 (IOD-28) Dual-channel Equivalent Safety Device SS_IN_CH0 (IOD-19) SS_IN_CH0 (IOD-19) SS_IN_CH1 (IOD-20) SS_IN_CH1 (IOD-20) 24VPWR (IOD-14) 24VPWR (IOD-14) 24VCOM (IOD-15) 24VCOM (IOD-15) Light Curtain SPWR (IOD-17)
-
Page 23: Reset Input (Reset_In)
Chapter 3 Safe Torque-off I/O Signals Reset Input (Reset_In) The Reset input is for reset and monitoring of the safety circuit. RESET_REF provides reference voltage for the RESET_IN input. For automatic reset option, wire the reset input terminal (IOD-26) to the RESET_REF terminal, (IOD-25). - Page 24 Chapter 3 Safe Torque-off I/O Signals Figure 10 - SS_Out to SS_In Connections for Multi-axis Applications Drive 1 SS_OUT_CH0 SS_OUT_CH1 IOD-21 IOD-22 IOD-24 IOD-23 SS_IN_CH2 SS_IN_CH3 Drive 2 For more information on multi-axis configurations, see Cascaded Configurations starting on page Alternately, the first SS_Out output may be used to signal a programmable logic controller (PLC) that a Safe Stop has been requested.
-
Page 25: Safe Stop Reset
Chapter 3 Safe Torque-off I/O Signals Safe Stop Reset Safe torque-off drives provide a Reset Input (RESET_IN) for resetting the drive after a fault, and for synchronizing restart of several cascading drives. The Reset Input (RESET_IN) is not safety certified and does not have dual-channel capability. -
Page 26: Safe Stop Wiring Example
Chapter 3 Safe Torque-off I/O Signals Safe Stop Wiring Example This example illustrates safe stop wiring. Figure 11 - Master, Safe Stop (First or Single Unit) Kinetix 6200 and Kinetix 6500 IOD Connector Safe Torque-off Control Module IOD (44-pin) Connector TEST_OUT_1... -
Page 27: Introduction
Chapter Multi-axis Cascaded Systems Introduction This chapter describes cascaded multi-axis drive operation and provides wiring examples for cascaded multi-axis drive systems. Topic Page Cascaded Configurations Safe Stop Wiring Examples Cascaded Configurations For cascaded drives, connect the safety switches to the safety inputs (SS_In) of only the first axis. -
Page 28: Safe Stop Wiring Examples
Chapter 4 Multi-axis Cascaded Systems Safe Stop Wiring Examples Cascaded configurations can be wired with either the 2090-K6CK-D44M or 2090-K6CK-D44S0 low-profile connector kits. The 2090-K6CK-D44S0 connector is designed specifically for cascading the safe torque-off signals from drive-to-drive. The examples shown are safe-stop configurations that use a dry-contact safety device. -
Page 29: 2090-K6Ck-D44S0 Connector Kit Examples
Multi-axis Cascaded Systems Chapter 4 2090-K6CK-D44S0 Connector Kit Examples The 2090-K6CK-D44S0 connector kit and 2090-CS0DSDS-AAxx safe-off cable are designed specifically for cascading the safe torque-off signals from drive-to-drive. Figure 15 - Cascading Safe Stop Non-OSSD Device Wiring Example IOD Connector (P5) IOD Connector (P5) IOD Connector (P5) TEST_OUT_1... - Page 30 Chapter 4 Multi-axis Cascaded Systems Figure 16 - Cascading Safe Stop OSSD Device Wiring Example IOD Connector (P5) IOD Connector (P5) IOD Connector (P5) Light Curtain TEST_OUT_1 TEST_OUT_1 TEST_OUT_1 24V DC Safety Mat TEST_OUT_0 TEST_OUT_0 TEST_OUT_0 OSSD1 SS_IN_CH3 SS_IN_CH3 SS_IN_CH3 OSSD2 SS_IN_CH2 SS_IN_CH2...
- Page 31 The right-angled cable connectors are keyed to exit left as shown. Cables loop back and cascade to the next drive or other cascading device. Figure 17 - Kinetix 6200/6500 Cascading Safe Torque-off Cable Example 2094-BCxx-Mxx-M 2094-BMxx-M...
- Page 32 Chapter 4 Multi-axis Cascaded Systems Notes: Rockwell Automation Publication 2094-RM002B-EN-P - May 2012...
-
Page 33: Introduction
Chapter Troubleshooting the Safe Torque-off Drive Introduction This chapter provides troubleshooting tables for diagnosing fault conditions associated with the safe torque-off safety functions. Topic Page Nonrecoverable Faults Fault Recovery Input and Output Faults Fault Codes and Descriptions Status Attributes Nonrecoverable Faults In addition to the recoverable faults described in this chapter, the drive also generates nonrecoverable faults when a problem with the drive hardware is detected. -
Page 34: Input And Output Faults
The fault history queue stores the fault codes and timestamps for the last 10 faults that occurred. Refer to the Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drive User Manual, publication 2094-UM002, for more information on accessing the drive web page. -
Page 35: Status Attributes
This is not required for AxisCIPDrive.GuardStatus tags. Guard Status Attributes These attributes are stored in the AxisServoDrive.GuardStatus tag (Kinetix 6200 systems) and AxisCIPDrive.GuardStatus tag (Kinetix 6500 systems). Each bit corresponds to a different attribute. -
Page 36: Guard Fault Attributes
Chapter 5 Troubleshooting the Safe Torque-off Drive Table 8 - Guard Status Bit Values Parameter Name Description Bit Values GuardOKStatus 0 = Fault; 1 = OK GuardConfigLockedStatus Reserved GuardGateDriveOutputSatus 0 = Off; 1 = On GuardStopInputStatus 0 = Off; 1 = On GuardStopRequestStatus 0 = Inactive;... -
Page 37: Introduction
Appendix Specifications Introduction This appendix provides product specifications for the safe torque-off safety functions. Topic Page General Specifications Certifications General Specifications These specifications apply to the safe torque-off safety functions. Attribute Value Standards IEC/EN60204-1, ISO12100, IEC 61508, IEC 61800-5-2 Safety category Cat. -
Page 38: Certifications
TÜV Certified for Functional Safety: up to SIL CL3, according to EN 61800-5-2, EN 61508, and EN 62061; up to Performance Level PLe and Category 4, according to EN ISO 13849-1; when used as described in this Kinetix 6200 and Kinetix 6500 Safe Torque-off Safety Reference Manual, publication 2094-RM002. -
Page 39: Rockwell Automation Publication 2094-Rm002B-En-P - May
Index Numerics 2090-K6CK-D44M 14 guard faults 36 2090-K6CK-D44S0 16 guard status 36 additional resources 8 input faults 34 ADR 12 inputs 19 automatic drive replacement 12 ISO 13849-1 9 automatic reset 23 motion-allowed plug 17 cascaded configurations 27 multi-axis cascaded connections 24 configurations 27 Cat 4 7 wiring 24... -
Page 40: Index
Index SIL CL3 7 certification, user responsibilities 10 single-channel operation 19 SO Reset 25 specifications general 37 SS_Out output 23 status attributes 35 stop category definition 10 terminal screws connections 18 strip length 18 torque 18 timing diagrams discrepancy time 20 reset behavior 21 wiring connector kit... - Page 42 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.