Rockwell Automation 2099-BMxx-S Kinetix Safe Torque-off Feature Safety Reference Manual - Manual (Page 38)

38 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Appendix B Kinetix Safe Torque-off Wiring Diagrams
Figure 25 - Multi-axis GuardLogix Configuration (Stop Category 1)
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-
De viceNet
TM
2 3
Har
dw
ar
e Enable Input
24V_C
OM
1 2 3 4 5 6 7
FDBK2+ FDBK2- FDBK1+ FDBK1- SAFET
Y ENABLE2+
SAFET
Y ENABLE -
SAFET
Y ENABLE1+
Har
dw
ar
e Enable Input
24V_C
OM
2 3
Har
dw
ar
e Enable Input
24V_C
OM
2 3
K
inetix 6
000 IA
M/A
M
Modu
le
or Kinetix 700
0 D
riv
e
Al
len
-Bradl
ey Guard
Lo
gix
Sa
fe
ty I/O M
odu
le
17
91DS
-IB8X0B8
Sa
fe
To
rq
ue
-o
ff
(S
TO
) C
onne
ct
or
wi
th
Fi
rs
t-
dr
iv
e
Wi
rin
g H
ea
de
r
(2090-
XN
SM
-W
)
24
V C
OM
Sa
fe T
or
que
-off
Dem
an
d
+2
4V
D
C
24
V C
OM
+24V DC
Co
nt
ro
lL
ogix Ch
assis
Sa
fe
To
rq
ue
-o
ff
Inter
fa
ce C
ab
le
1202
-C
xx
Sa
fe
To
rq
ue
-o
ff
(ST
O)
C
onne
ct
or with
Mi
dd
le
He
ad
er
(2090-
XN
SM-M)
Sa
fe
T
or
qu
e-
of
f
(S
TO
) C
onnec
tor with
Termin
at
ing
H
ead
er
(2
090-
XN
SM
-T
)
Sa
fe
To
rq
ue
-o
ff
In
te
rf
ace Cab
le
12
02-C
xx
I/O (IOD
) C
onne
ct
or
I/O (
IOD
) C
on
nec
to
r
I/O (IOD
) C
onne
ct
or
IMP
O
RTANT
Pr
oper logic and c
ommissioning of
the
safet
y
co
nt
ro
ller must be
co
nf
ig
ur
ed.
Refer
to
the D
evic
eN
et
Modules
in L
ogix5000 C
on
tr
ol
Sy
st
ems Us
er
Ma
nual
, publica
tion
DNET
-U
M00
4
, a
nd
the
D
ev
ic
eN
et
S
af
ety U
ser
Ma
nual
, publica
tion
17
91
DS
-U
M00
1
, for m
or
e i
nform
at
io
n.
17
56-
L61
S Gu
ar
dL
ogi
x P
rocessor
17
56-
LSP Gua
rdL
og
ix S
afet
y P
ar
tn
er
17
56-
DNB Devi
ceN
et
Modul
e
K
inetix 60
00 IAM/AM Modu
le
or Kin
etix 700
0 D
riv
e
Kinetix 60
00 IAM/AM Modu
le
or Kin
etix 7000
D
riv
e