Rockwell Automation 2094-EN02D-M01-S1 Kinetix 6200 and Kinetix 6500 Safe Speed Monitoring Safety Reference Manual - Manual (Page 27)

Rockwell Automation Publication 2094-RM001C-EN-P - May 2013 27
Installation and Wiring Chapter 3
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 143 for the I/O signal electrical specifications.
Table 2 - IOD Connector Pinouts
IOD Pin
(1)
Description Signal IOD Pin
(1)
Description Signal
0 Chassis Ground Shield
23 (S52) Safe Limited Speed Input 0 SLS_IN_CH0
1
Sine Differential Input +
A Differential Input + AUX_SIN+
AUX_A+
2
Sine Differential Input -
A Differential Input - AUX_SIN-
AUX_A-
24 (S62) Safe Limited Speed Input 1 SLS_IN_CH1
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 EPWR_5V 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 EPWR_9V 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 37 (S72) Enabling Sw. Mon. Input 0 ESM_IN_CH0
16 Reserved – 38 (S82) Enabling Sw. Mon. 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
19 (S12) Safe Stop Input 0 SS_IN_CH0 41 Digital Input 1 INPUT1
20 (S22) Safe Stop Input 1 SS_IN_CH1 42 Digital Input 2 INPUT2
21 (34) Safe Stop Output 0 SS_OUT_CH0 43 Digital Input 3 INPUT3
22 (44) Safe Stop Output 1 SS_OUT_CH1 44 Digital Input 4 INPUT4
(1) Designators in parenthesis refer to the Guardmaster® MSR57P safety relay and PowerFlex® 750-Series safety option terminals.
(2) Signals 24VPWR and 24VCOM (IOD-14 and IOD-15) do not apply to 2094-xx02x-M0x-S1 control modules.
(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).