Rockwell Automation 2099-BMxx-S Kinetix Safe Torque-off Feature Safety Reference Manual - Manual (Page 42)

42 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Appendix B Kinetix Safe Torque-off Wiring Diagrams
Figure 29 - Multi-axis GuardPLC Configuration (Stop Category 1)
2 3
Har
dw
ar
e Enable Input
24V_C
OM
LS
+1
71
81
92
0
L-
37
38
39
40
41
42
LS
+1
31
41
51
6
L-
31
32
33
34
35
36
LS+
9
10
11
12
L-
25
26
27
28
29
30
LS
+5
6
7
8
L-
19
20
21
22
23
24
LS
+1
2
3
4
L-
13
14
15
16
17
18
L-
1234
L-
1234
56
L-
5
6
7
8
L-
789
10
11
12
DI
DI
DI
DI
DI
DO
DO
Allen Bradle
y
Guard
PLC 1600
1753-L28BBM
20 DC Inputs 8 DC Outputs
L-
L-
L+
L+
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
+24V DC
24V C
OM
Kin
etix 6000
IAM/AM Modul
e
or K
ine
tix
7000 Driv
e
Saf
e T
or
que
-o
ff
(ST
O) C
onn
ec
to
r
with Fi
rs
t-
dr
iv
e
W
iring Hea
der
(2
090
-XNSM
-W
)
Sa
fe
To
rq
ue
-o
ff
In
te
rf
ace C
abl
e
120
2-
Cxx
K
inetix 6
000 IA
M/A
M
Module
or Kinetix 700
0 D
riv
e
Sa
fe T
or
que
-o
ff
(S
TO
) C
onn
ec
tor
w
ith
Middl
e Header
(209
0-
XN
SM-M)
Sa
fe
To
rqu
e-
of
f
(ST
O) C
onn
ec
to
r with
Te
rmi
natin
g Hea
der
(209
0-
XN
SM-
T)
K
ine
tix 6000 IA
M/A
M
Module
or Kinetix 70
00 Driv
e
Sa
fe T
or
que
-o
ff
In
te
rf
ac
e C
abl
e
1202
-C
xx
I/
O (IO
D) C
onnec
tor
I/O (I
OD
) C
onn
ec
to
r
I/O (
IOD
) C
onn
ec
to
r
Sa
fe T
or
que
-off
Dem
an
d
+2
4V DC
Po
w
er
S
up
pl
y