Rockwell Automation 2099-BMxx-S Kinetix Safe Torque-off Feature Safety Reference Manual - Manual (Page 37)

Rockwell Automation Publication GMC-RM002F-EN-P - June 2013 37
Kinetix Safe Torque-off Wiring Diagrams Appendix B
Figure 24 - Multi-axis GuardLogix Configuration (Stop Category 0)
V0
V0
0
1
2
3
4
5
6
7
G0
G0
T0
T1
T0
T1
T0
T1
T2
T3
V1
V1
0
1
2
3
4
5
6
7
G1
G1
G1
G1
G1
G1
G1
G1
G1
G1
V+
CAN_H D
rain
CAN_L
V-
1 2 3 4 5 6 7
FDBK2+ FDBK2- FDBK1+ FDBK1- SAFET
Y ENABLE2+
SAFET
Y ENABLE -
SAFET
Y ENABLE1+
De viceNet
TM
K
ine
tix 6
000 IA
M/A
M
Modu
le
or Kinetix 700
0 D
riv
e
A
llen
-Bradl
ey Guar
dLo
gix
Sa
fe
ty I/O M
odu
le
1791DS
-IB8X0B8
Saf
e T
or
qu
e-off
(ST
O)
C
onn
ec
to
r
wit
h
Fi
rs
t-
dr
iv
e
Wi
rin
g H
ea
de
r
(209
0-
XNSM-
W
)
24
V C
OM
Sa
fe
To
rq
ue
-o
ff
Dem
an
d
+24
V
DC
24V C
OM
+2
4V
D
C
Co
ntr
olL
og
ix Ch
ass
is
Saf
e T
or
qu
e-off
Inter
fa
ce
C
able
1202-C
xx
Sa
fe
To
rq
ue
-o
ff
(ST
O) C
on
ne
ct
or wit
h
Mid
dl
e He
ad
er
(2
090-
XN
SM
-M)
Sa
fe T
or
que
-o
ff
(ST
O) C
onnec
tor
with
Te
rm
in
at
in
g H
ea
de
r
(2
090-
XNSM-
T)
Sa
fe
To
rq
ue
-o
ff
In
ter
face Cab
le
1202-C
xx
IMP
O
RTANT
Pr
oper logic and c
ommissioning of
the safet
y
con
tr
oller must be c
onfigur
ed
.
Refer t
o the D
evic
eN
et
Modules
in
Lo
gix500
0 C
on
tr
ol S
yst
ems U
ser Manual
, publica
tion
DN
ET
-U
M0
04
, a
nd
the Dev
ic
eN
et
Sa
fet
y U
ser Manual
, publica
tion
17
91
DS-U
M00
1
, f
or
mor
e inf
orma
tion.
1756-L61S
G
ua
rdL
ogi
x Pr
ocess
or
17
56-L
SP Gua
rdL
ogi
x Sa
fet
y
Pa
rt
ner
17
56-D
N
B D
evic
eN
et
Mod
ule
Kin
etix 6000
IAM/AM Modul
e
or
K
ine
tix 7000 D
riv
e
Kin
etix 6000
IAM/AM Module
or
K
ine
tix 7000 D
riv
e