Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 317
Kinetix 5700 Safe Torque-off Function Chapter 9
Figure 144 - System Operation when Safety Enable Inputs Mismatch Momentarily
Safe Torque-off Connector Data
Two rows of eight pins are provided for making drive-to-drive connections.
The dual-axis inverters have pins designated for axis A and axis B. The single-
axis inverters do not use STO-6, -7, -8 and STO-14, -15, -16.
Figure 145 - Pin Orientation for 16-pin Safe Torque-off (STO) Connector
Safety Input S1
Safety Input S2
GuardFault
SafeTorqueOInhibit
Start Inhibited
GuardOKStatus
OK
GuardGateDriveOutputStatus
Torque Disabled
Stop Requested
GuardStopInputStatus
GuardStopRequestStatus
GuardStopInputFault
No Fault
1 Second
No Fault Faulted
Not OK
Faulted
ATTENTION: The safe torque-off fault is detected upon demand of the safe
torque-off function. After troubleshooting the STO function or performing
maintenance that might affect the STO function, the STO function must be
executed to verify correct operation.
IMPORTANT The GuardStopInputFault can be reset only if both inputs are in the OFF-
state for more than 1 second. After the fault reset requirement is satisfied,
an MAFR command in the Logix Designer application must be issued to
reset the GuardStopInputFault.
S1A
SCA
S2A
SB-
S1B
SCB
S1A
SCA
S2A
SB-
N/C
N/C
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
SB+/NC
S2B
SB+/NC
N/C
2198-Dxxx-ERSx
Dual-axis Inverter
Safety (STO) Connector Plug
2198-Sxxx-ERSx
Single-axis Inverter
Safety (STO) Connector Plug
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