Rockwell Automation 2094-EN02D-M01-Sx Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives User Manual User Manual
Page 67
Rockwell Automation Publication 2094-UM002E-EN-P - May 2012
67
Kinetix 6200 and Kinetix 6500 Connector Data
Chapter 4
I/O, Safety, and Auxiliary Feedback Connector Pinout
Refer to the Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety
Reference Manual, publicatio
r more information on safe-
speed monitoring safety functions.
Refer to the Kinetix 6200 and Kinetix 6500 Safe Torque-off Safety Reference
Manual, publication
r more information on safe torque-off
safety functions.
IOD Pin
(1)
Description
Signal
IOD Pin
(1)
Description
Signal
1
Sine differential input +
A differential input +
AUX_SIN+
AUX_A+
23
(S52)
Safe limited speed input 0
SLS_IN_CH0
Safe stop input 2
SS_IN_CH2
(2)
2
Sine differential input -
A differential input -
AUX_SIN-
AUX_A-
24
(S62)
Safe limited speed input 1
SLS_IN_CH1
Safe stop input 3
SS_IN_CH3
(2)
3
Cosine differential input +
B differential input +
AUX_COS+
AUX_B+
25
Reset reference
RESET_REF
4
Cosine differential input -
B differential input -
AUX_COS-
AUX_B-
26 (S34)
Reset
input
RESET_IN
5
Data differential input +
Index differential input +
AUX_DATA+
AUX_I+
27
(S11)
Pulse test output 0
TEST_OUT_0
6
Data differential input -
Index differential input -
AUX_DATA-
AUX_I-
28
(S21)
Pulse test output 1
TEST_OUT_1
7
Clock output +
AUX_CLK+
29
(68)
Safe limited speed output 0
SLS_OUT_CH0
8
Clock output -
AUX_CLK-
30
(78)
Safe limited speed output 1
SLS_OUT_CH1
9
Encoder 5V power output
EPWR5V
31
(S32)
Door monitor input 0
DM_IN_CH0
10
Encoder common
ECOM
32
(S42)
Door monitor input 1
DM_IN_CH1
11
Encoder 9V power output
EPWR9V
33
(X32)
Lock monitor input 0
LM_IN_CH0
12
Reserved
–
34
(X42)
Lock monitor input 1
LM_IN_CH1
13
Reserved
–
35
(51)
Door control channel output-
DC_OUT_CH0
14
24V power out
24VPWR
(2)
36
(52)
Door control channel output+
DC_OUT_CH1
15
24V common
24VCOM
(2)
37
(S72)
Enabling switch monitor input 0
ESM_IN_CH0
16
Reserved
–
38
(S82)
Enabling switch monitor input 1
ESM_IN_CH1
17
(A1)
Safety 24V power input
SPWR
39
24V power out
24VPWR
(3)
18
(A2)
Safety 24V common
SCOM
40
24V common
24VCOM
(3)
19
(S12)
Safe stop input 0
SS_IN_CH0
41
Digital input 1 (drive enable)
INPUT1
(4)
20
(S22)
Safe stop input 1
SS_IN_CH1
42
Digital input 2 (home)
INPUT2
(4)
21
(34)
Safe stop output 0
SS_OUT_CH0
43
Digital input 3 (registration 1)
INPUT3
(4)
22
(44)
Safe stop output 1
SS_OUT_CH1
44
Digital input 4 (registration 2)
INPUT4
(4)
(1) Designators in parenthesis refer to the Guardmaster® MSR57P safety relay and PowerFlex 750-Series safety option terminals.
(2) This signal applies to only the 2094-SE02F-M00-S0 and 2094-EN02D-M01-S0 control modules. Use this supply to power the Safety 24V (SPWR/SCOM) input. Do not connect this 24V supply
to any external safety device.
(3) Use signals 24VPWR and 24VCOM (IOD-39 and IOD-40) as a 24V DC source to operate the digital inputs (50 mA maximum per input).
(4) Default assignments are in parenthesis. Use sercos IDN Write instruction to change default assignments. Refer to
for more information.