Reference Manual

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
Hardware Enable Input 24V_COM
LS+17181920L-
37 38 39 40 41 42
LS+13141516L-
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-1234L-
123456
L- 5 6 7 8 L-
789101112
DI DI DI DI DI
DO DO
Allen Bradley
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- SAFETY ENABLE2+ SAFETY ENABLE - SAFETY ENABLE1+
Hardware Enable Input
24V_COM
2 3
Hardware Enable Input 24V_COM
2 3
+24V DC
24V COM
Kinetix 6000 IAM/AM Module
or Kinetix 7000 Drive
Safe Torque-off (STO) Connector with First-drive Wiring Header (2090-XNSM-W)
Safe Torque-off
Interface Cable
1202-Cxx
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)
Kinetix 6000 IAM/AM Module
or Kinetix 7000 Drive
Safe Torque-off
Interface Cable
1202-Cxx
I/O (IOD) Connector
I/O (IOD) Connector
I/O (IOD) Connector
Safe Torque-off
Demand
+24V DC
Power Supply