Rockwell Automation 2099-BMxx-S Kinetix Safe Torque-off Feature Safety Reference Manual User Manual
Page 33
Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
33
Kinetix Safe Torque-off Wiring Diagrams Appendix B
Figure 20 - Multi-axis Relay Configuration (Stop Category 0)
A1
S11
S52
S12
13
23
33
41
S21
S22
S34
A2
14
24
34
42
1
2
3
4
5
6
7
FDBK2+
FDBK2-
FDBK1+
FDBK1-
SAFETY ENABLE2+
SAFETY ENABLE -
SAFETY ENABLE1+
Kinetix 6000 IAM/AM Module
or Kinetix 7000 Drive
Safe Torque-off
(STO) Connector
with
First-drive
Wiring Header
(2090-XNSM-W)
External 24V COM
External +24V DC
Reset
Safe Torque-off
Interface Cable
1202-C
xx
Allen-Bradley
Monitoring Safety Relay
MSR127RP (440R-N23135)
Safe Torque-off
Demand
Kinetix 6000 IAM/AM Module
or Kinetix 7000 Drive
Safe Torque-off
(STO) Connector with
Middle Header
(2090-XNSM-M)
Safe Torque-off
(STO) Connector with
Terminating Header
(2090-XNSM-T)
Safe Torque-off
Interface Cable
1202-C
xx
Kinetix 6000 IAM/AM Module
or Kinetix 7000 Drive