Rockwell Automation 2099-BMxx-S Kinetix Safe Torque-off Feature Safety Reference Manual - Manual (Page 32)

32 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Appendix B Kinetix Safe Torque-off Wiring Diagrams
Kinetix Safe Torque-off/
Safety Relay Configurations In the diagrams beginning below, the Kinetix 6000 and Kinetix 7000 drive safe
torque-off connector is shown wired to an Allen-Bradley safety relay.
Figure 18 - Single-axis Relay Configuration (Stop Category 0)
Figure 19 - Single-axis Relay Configuration (Stop Category 1)
A1 S11 S52 S12 13 23 33 41
S21 S22 S34 A2 14 24 34 42
1
2
3
4
5
6
7
8
9
N.C.
N.C.
FDBK2+
FDBK2-
FDBK1+
FDBK1-
SAFETY ENABLE2+
SAFETY ENABLE -
SAFETY ENABLE1+
24V +
24V_COM
Kinetix 6000 IAM/AM Module
or Kinetix 7000 Drive
Allen-Bradley
Monitoring Safety Relay
MSR127RP (440R-N23135)
Safe Torque-off
(STO) Connector
with
Wiring Header
External 24V COM
Safe Torque-off
Demand
External +24V DC
Reset
N.C.
N.C.
1
2
3
4
5
6
7
8
9
FDBK2+
FDBK2-
FDBK1+
FDBK1-
SAFETY ENABLE2+
SAFETY ENABLE -
SAFETY ENABLE1+
24V +
24V_COM
1
2
Hardware Enable 24V +
Hardware Enable Input
A1 S52 S11 S12 S21 S22 S33 S34 13 23 37 47 55
A2 X1 X2 X3 X4 Y39 Y40 Y2 Y1 14 24 38 48 56
Kinetix 6000 IAM/AM Module
or Kinetix 7000 Drive
Allen-Bradley Monitoring Safety Relay
MSR138.1DP (440R-M23088)
Safe Torque-off
(STO) Connector
with
Wiring Header
External 24V COM
Safe Torque-off Demand
External +24V DC
Reset
I/O (IOD) Connector