User guide

Rockwell Automation Publication 2094-UM003A-EN-P - May 2012 103
Appendix A
Using the Safe Torque-off Feature with the
Kinetix 6000M System
This appendix introduces you to how the safe torque-off feature meets the
requirements of Performance Level d (PLd) and Category 3 (Cat3) per EN ISO
13849-1 and SIL CL 2 per IEC EN 61508, EN 61800-5-2 and EN 62061.
Certification
The TÜV Rheinland group has approved the Kinetix 6000M integrated drive-
motor system for use in safety-related applications up to EN ISO 13849-1
performance level d (PLd) and category 3, SIL CL 2 per IEC EN 61508, EN
61800-5-2 and EN 62061, in which removing the motion producing power is
considered to be the safe state.
Important Safety Considerations
The system user is responsible for the following:
• Validation of any sensors or actuators connected to the system
• Completing a machine-level risk assessment
• Certification of the machine to the desired EN ISO 13849-1 performance
level or EN 62061 SIL level
• Project management and proof testing
Topic Page
Certification 103
Description of Operation 104
PFD, PFH, and MTTFd Definitions 107
PFD, PFH, and MTTFd Data 107
Wiring Your Safe Torque-off Circuit 107
IDM Safe Torque-off Feature 108
IDM System Safe Torque-off Example 109
Cascading the Safe Torque-off Signal 110
Safe Torque-off Signal Specifications 111