Rockwell Automation 2099-BMxx-S Kinetix Safe Torque-off Feature Safety Reference Manual User Manual
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36
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Appendix B Kinetix Safe Torque-off Wiring Diagrams
Figure 23 - Single-axis GuardLogix Configuration (Stop Category 1)
N.C.
N.C.
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
2
3
Har
dw
ar
e Enable Input
24V_C
OM
De
viceNet
TM
Kin
etix 6000
IAM/AM Module
or K
ine
tix
7000 Driv
e
A
llen
-Bradl
ey Guar
dLo
gix
Sa
fe
ty I/O M
odu
le
1791DS
-IB8X0B8
Sa
fe T
or
que
-o
ff
(ST
O)
C
on
ne
ct
or
wit
h
Wi
rin
g H
ea
de
r
24
V C
OM
Sa
fe
To
rqu
e-
of
f
De
m
an
d
+24V DC
24V C
OM
+24V DC
Co
nt
rol
Logix Ch
as
si
s
I/O (IOD
) C
onnec
tor
IMP
O
RTANT
Pr
oper logic and c
ommissioning of
the
safet
y
con
tr
oller mu
st be c
onfigur
ed
.
Refer t
o
the
D
evic
eN
et
Modules in L
ogi
x500
0
Co
nt
ro
l S
yst
ems U
ser Manu
al
, publica
tion
, a
nd the D
ev
ic
eN
et
Sa
fe
ty
U
ser Ma
nu
al
, publica
tion
, f
or
mor
e inf
orma
tion.
1756-L61S G
ua
rdL
ogi
x Pr
ocess
or
17
56-L
SP Gua
rdL
og
ix S
afet
y P
ar
tner
17
56-D
N
B D
evi
ceN
et
Modul
e