Reference Manual

36 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Appendix B Kinetix Safe Torque-off Wiring Diagrams
Figure 23 - Single-axis GuardLogix Configuration (Stop Category 1)
N.C. N.C.
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
Drain
CAN_L
V-
1 2 3 4 5 6 7 8 9
FDBK2+ FDBK2- FDBK1+ FDBK1- SAFETY ENABLE2+ SAFETY ENABLE - SAFETY ENABLE1+ 24V + 24V_COM
2 3
Hardware Enable Input 24V_COM
DeviceNet
TM
Kinetix 6000 IAM/AM Module
or Kinetix 7000 Drive
Allen-Bradley GuardLogix
Safety I/O Module
1791DS-IB8X0B8
Safe Torque-off (STO) Connector with Wiring Header
24V COM
Safe Torque-off
Demand
+24V DC
24V COM
+24V DC
ControlLogix Chassis
I/O (IOD) Connector
IMPORTANT
Proper logic and commissioning of the safety controller must be configured. Refer to the DeviceNet Modules in Logix5000 Control Systems User Manual, publication DNET-UM004
, and the DeviceNet
Safety User Manual, publication 1791DS-UM001
, for more information.
1756-L61S GuardLogix Processor 1756-LSP GuardLogix Safety Partner 1756-DNB DeviceNet Module