Allen-Bradley Kinetix 6500 - Using the Motion-Allowed Plug

Rockwell Automation Publication 2094-RM002B-EN-P - May 2012 17
Installation and Wiring Chapter 2
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.
For this reason, the 2094-xx02x-M0x-S0 control modules ship with the
motion-allowed plug. The plug inserts into the IOD connector and provides
connections designed to defeat the safe torque-off function.
Figure 3 - Motion-allowed Plug Wiring
Figure 4 - Motion-allowed Plug Installation
IOD Connector
TEST_OUT_1
TEST_OUT_0
RESET_IN
RESET_REF
28
27
26
25
24
23
22
21
20
19
18
17
15
14
SLS_IN_CH3
SLS_IN_CH2
SS_OUT_CH1
SS_OUT_CH0
SS_IN_CH1
SS_IN_CH0
SCOM
SPWR
28
27
26
25
24
23
22
21
20
19
18
17
15
14
24VCOM
24VPWR
Kinetix 6200 and Kinetix 6500
Safe Torque-off Control Module
IOD (44-pin) Connector
TIP
If your application does not require any I/O, safety, or auxiliary feedback
connections, use the motion-allowed plug supplied with your drive to defeat
the safe torque-off functionality.
Kinetix 6200 or Kinetix 6500 Drive
(safe torque-off control module)
I/O, safety, and auxiliary feedback
(IOD) 44-pin connector with
motion-allowed plug installed.