Rockwell Automation 2099-BMxx-S Kinetix Safe Torque-off Feature Safety Reference Manual - Manual (Page 39)

Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 39
Kinetix Safe Torque-off Wiring Diagrams Appendix B
Kinetix Safe Torque-off/
GuardPLC Configurations In these diagrams, the Kinetix 6000 and Kinetix 7000 drive safe torque-off
connector is shown wired to an Allen-Bradley GuardPLC controller.
Figure 26 - Single-axis GuardPLC Configuration (Stop Category 0)
LS
+1
71
81
92
0
L-
37
38
39
40
41
42
LS
+1
31
41
51
6
L-
31
32
33
34
35
36
LS+
9
10
11
12
L-
25
26
27
28
29
30
LS
+5
6
7
8
L-
19
20
21
22
23
24
LS
+1
2
3
4
L-
13
14
15
16
17
18
L-
1234
L-
1234
56
L-
5
6
7
8
L-
7
8
9
10
11
12
DI
DI
DI
DI
DI
DO
DO
Allen Bradle
y
Guard
PLC 1600
1753-L28BBM
20 DC Inputs 8 DC Outputs
L-
L-
L+
L+
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.
+24V DC
24V C
OM
Kinetix 60
00 IAM/AM Modul
e or
Kin
etix 7000
D
riv
e
Sa
fe
To
rqu
e-
of
f
(ST
O) C
onn
ec
to
r
with W
iring Hea
der
Sa
fe T
or
que
-off
Dem
an
d
+24V DC
Po
w
er
S
up
pl
y