Terminal connections – Rockwell Automation 2094-EN02D-M01-S0 Kinetix 6200 and Kinetix 6500 Safe Torque-off Safety Reference Manual User Manual
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Rockwell Automation Publication 2094-RM002B-EN-P - May 2012
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).
for the I/O signal electrical specifications.
Table 3 - IOD Connector Pinouts
IOD
Pin
Description
Signal
IOD
Pin
Description
Signal
0
Chassis ground
Shield
23
Safe stop input 2
SS_IN_CH2
1
Sine differential input +
A differential input +
AUX_SIN+
AUX_A+
2
Sine differential input -
A differential input -
AUX_SIN-
AUX_A-
24
Safe stop input 3
SS_IN_CH3
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 Reset
input
RESET_IN
5
Data differential input +
Index differential input +
AUX_DATA+
AUX_I+
27
Pulse test output 0
TEST_OUT_0
6
Data differential input -
Index differential input -
AUX_DATA-
AUX_I-
28
Pulse test output 1
TEST_OUT_1
7
Clock output +
AUX_CLK+
29
Reserved
–
8
Clock output -
AUX_CLK-
30
Reserved
–
9
Encoder 5V power output
EPWR_5V
31
Reserved
–
10
Encoder common
ECOM
32
Reserved
–
11
Encoder 9V power output
EPWR_9V
33
Reserved
–
12
Reserved
–
34 Reserved
–
13
Reserved
–
35 Reserved
–
14
24V power out
24VPWR
(1)
36 Reserved
–
15
24V common
24VCOM
37
Reserved
–
16
Reserved
–
38
Reserved
–
17
Safety 24V power input
SPWR
39
24V power out
24VPWR
(2)
18
Safety 24V common
SCOM
40
24V common
24VCOM
19
Safe stop input 0
SS_IN_CH0
41
Digital input 1
INPUT1
20
Safe stop input 1
SS_IN_CH1
42
Digital input 2
INPUT2
21
Safe stop output 0
SS_OUT_CH0
43
Digital input 3
INPUT3
22
Safe stop output 1
SS_OUT_CH1
44
Digital input 4
INPUT4
(1) Use this supply to power the Safety 24V (SPWR/SCOM) input. Do not connect this 24V supply to any external safety device. Refer to
for an example.
(2) 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).