Rockwell Automation 2099-BMxx-S Kinetix Safe Torque-off Feature Safety Reference Manual - Manual (Page 35)

Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 35
Kinetix Safe Torque-off Wiring Diagrams Appendix B
Kinetix Safe Torque-off/
GuardLogix Configurations In these diagrams, the Kinetix 6000 and Kinetix 7000 drive safe torque-off
connector is shown wired to an Allen-Bradley GuardLogix controller.
Figure 22 - Single-axis GuardLogix Configuration (Stop Category 0)
V0
V0
0
1
2
3
4
5
6
7
G0
G0
T0
T1
T0
T1
T0
T1
T2
T3
V1
V1
0
1
2
3
4
5
6
7
G1
G1
G1
G1
G1
G1
G1
G1
G1
G1
V+
CAN_H D
rain
CAN_L
V-
1 2 3 4 5 6 7 8 9
FDBK2+ FDBK2- FDBK1+ FDBK1- SAFET
Y ENABLE2+
SAFET
Y ENABLE -
SAFET
Y ENABLE1+
24V + 24V_C
OM
N.C. N.C.
D evic eNet
TM
K
ine
tix 6
000 IA
M/A
M
Mod
ule
or Kinetix 70
00 Dr
iv
e
Allen-B
radley GuardLogi
x
Sa
fe
ty
I/
O
M
od
u
le
17
91DS
-IB8X0B8
Sa
fe T
or
que
-o
ff
(ST
O)
C
onnec
tor
wi
th
Wi
rin
g H
ea
de
r)
24V C
OM
Saf
e T
or
qu
e-
off
Dema
nd
+24V DC 24
V C
OM
+24V
DC
175
6-L
61S Gua
rdL
og
ix P
roc
essor
175
6-L
SP Gu
ar
dL
ogi
x Saf
ety P
ar
tner
175
6-DN
B D
evic
eNet M
odu
le
Co
nt
ro
lL
og
ix Ch
assi
s
IMPORTANT
Pr
oper logic and
co
mmissioning of
the safet
y
con
tr
oller must be c
on
figur
ed
.
Ref
er
to t
he
D
evi
ce
Ne
t M
odules
in
L
ogi
x50
00 C
on
tr
ol S
yst
ems U
ser Manual
, publica
tion
DNE
T-U
M00
4
, and
the Devi
ceN
et
Sa
fet
y U
ser Manual
, publica
tion
17
91
DS-U
M00
1
, f
or
mor
e inf
orma
tion.