Rockwell Automation 2099-BMxx-S Kinetix Safe Torque-off Feature Safety Reference Manual - Manual (Page 41)

Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 41
Kinetix Safe Torque-off Wiring Diagrams Appendix B
Figure 28 - Multi-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
FDBK2+ FDBK2- FDBK1+ FDBK1- SAFET
Y ENABLE2+
SAFET
Y ENABLE -
SAFET
Y ENABLE1+
+24V DC
24V C
OM
Sa
fe
To
rqu
e-
of
f
De
m
an
d
+24V DC
Po
w
er Supply
Kin
etix 6000
IAM/AM Modul
e
or K
ine
tix 7
000 Driv
e
Saf
e T
or
que
-o
ff
(ST
O) C
onnec
tor
with Fi
rs
t-
dr
iv
e
W
iring He
ader
(20
90-
XNSM
-W
)
Saf
e T
or
que
-o
ff
In
te
rf
ac
e C
ab
le
12
02-C
xx
K
inetix 6
000 IA
M/A
M
Mod
u
le
or Kinetix 700
0 D
riv
e
Sa
fe
To
rqu
e-
of
f
(ST
O) C
onn
ec
to
r with
Mid
dle H
eader
(2
090
-XN
SM
-M)
Sa
fe
To
rq
ue
-o
ff
(S
TO)
C
onn
ec
tor
w
ith
Te
rmi
natin
g Hea
der
(209
0-
XN
SM-
T)
Kin
etix 6000
IAM/AM Modul
e
or K
ine
tix 7
000 Driv
e
Saf
e T
or
que
-o
ff
In
te
rface C
ab
le
120
2-
Cxx