Rockwell Automation 2099-BMxx-S Kinetix Safe Torque-off Feature Safety Reference Manual - Manual (Page 34)

34 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Appendix B Kinetix Safe Torque-off Wiring Diagrams
Figure 21 - Multi-axis Relay Configuration (Stop Category 1)
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
1
2
3
4
5
6
7
FDBK2+
FDBK2-
FDBK1+
FDBK1-
SAFETY ENABLE2+
SAFETY ENABLE -
SAFETY ENABLE1+
2
3
Hardware Enable Input
24V_COM
2
3
Hardware Enable Input
24V_COM
2
3
Hardware Enable Input
24V_COM
Kinetix 6000 IAM/AM Module or
Kinetix 7000 Drive
Allen-Bradley Monitoring Safety Relay
MSR138.1DP (440R-M23088)
External 24V COM
Safe Torque-off Demand
External +24V DC
Reset
I/O (IOD) Connector
Safe Torque-off
(STO) Connector
with
First-drive
Wiring Header
(2090-XNSM-W)
Safe Torque-off
Interface Cable
1202-C
xx 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
I/O (IOD) Connector
I/O (IOD) Connector
External 24V COM