314 Rockwell Automation Publication 2198-UM002G-EN-P - February 2019
Chapter 9 Kinetix 5700 Safe Torque-off Function
Hardwired Safe Torque-off
This section introduces you to the Kinetix 5700 hardwired safe torque-off
(STO) feature that meets the requirements of Performance Level e (PL e) per
ISO 13849-1 and SIL CL 3 per IEC 61508, IEC 61800-5-2 and IEC 62061.
The 2198-xxxx-ERS3 and 2198-xxxx-ERS4 inverters use the STO connector
for wiring external safety devices and cascading hardwired safety connections
from drive-to-drive.
Compatible Controllers
A ControlLogix® 5570, ControlLogix 5580, CompactLogix™ 5370 or
CompactLogix 5380 controller is required for drive control.
The Studio 5000 Logix Designer® application provides support for
programming, commissioning, and maintaining these CompactLogix and
ControlLogix controllers with Kinetix 5700 drive systems.
Table 158 - Studio 5000 Logix Designer Requirements
Description of Operation
The safe torque-off feature provides a method, with sufficiently low probability
of failure, to force the power-transistor control signals to a disabled state.
When disabled, or any time power is removed from the safety enable inputs, all
of the drive output-power transistors are released from the ON-state. This
results in a condition where the drive performs a Category 0 Stop (refer to Stop
Category Definition on page 306). Disabling the power transistor output does
not provide physical isolation of the electrical output that is required for some
applications.
For hardwired control of the safe torque-off (STO) function:
• The STO function needs to be in Hardwired STO mode
• The appropriate wiring must be connected to the Safety (STO)
connector plug
Refer to Hardwired Safe Torque-off Electrical Specifications
on page 323 for
more information on the safety inputs.
Under normal operation, the safe torque-off inputs are energized. If either of
the safety enable inputs are de-energized, then all of the output power
transistors turn off. The safe torque-off reaction time is less than 12 ms.
Studio 5000 Logix Designer
Application
Kinetix Dual-axis Inverters
Cat. No.
Kinetix Single-axis Inverters
Cat. No.
Version 26 or later 2198-Dxxx-ERS3 (series A) 2198-Sxxx-ERS3 (series A)
Version 31 or later
2198-Dxxx-ERS4
2198-Dxxx-ERS3 (series B)
2198-Sxxx-ERS4
2198-Sxxx-ERS3 (series B)
ATTENTION: Permanent magnet motors can, in the event of two
simultaneous faults in the IGBT circuit, result in a rotation of up to 180
electrical degrees.
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