Rockwell Automation Publication 2198-UM001M-EN-P - November 2022 169
Chapter 10 Kinetix 5500 Safe Torque Off - Integrated Safety
Safe Torque Off Feature The Safe Torque Off feature, when used with suitable safety components,
provides protection according to ISO 13849-1 (PLe), Category 3 or according to
IEC 61508, IEC 61800-5-2, and IEC 62061 (SIL CL 3). All components in the
system must be chosen and applied correctly to achieve the desired level of
operator safeguarding.
The Safe Torque Off feature is designed to safely turn off all output power
transistors. You can use the Safe Torque Off feature in combination with other
safety devices to achieve Stop Category 0 and protection-against-restart as
specified in IEC 60204-1.
Out-of-Box State The 2198-Hxxx-ERS2 servo drives ship in the out-of-box state.
In the out-of-box state, you can configure 2198-Hxxx-ERS2 servo drives as
follows:
• Without a GuardLogix 5570 safety controller for a non-safety application.
• With a GuardLogix 5570 safety controller when the Safe Torque Off
(STO) function is not required.
Out-of-Box State Support
After the integrated safety connection configuration is applied to the
2198-Hxxx-ERS2 servo drive at least once, you can restore the drive to the out-
of-box state.
Follow these steps to restore your 2198-Hxxx-ERS2 servo drive to the out-of-
box state.
1. Right-click the 2198-Hxxx-ERS2 servo
drive that you created and choose
Properties.
ATTENTION: This option is designed to restrict motion producing power on
the drive system or affected area of a machine. It does not provide
electrical safety.
SHOCK HAZARD: In Safe Torque Off mode, hazardous voltages can still be
present at the drive. To avoid an electric shock hazard, disconnect power to
the system and verify that the voltage is zero before performing any work
on the drive.
ATTENTION: Personnel responsible for the application of safety-related
programmable electronic systems (PES) shall be aware of the safety
requirements in the application of the system and shall be trained in using
the system.
ATTENTION: In the out-of-box state, motion producing power is allowed by
the Safe Torque Off (STO) function unless an integrated safety connection
configuration has been applied to the drive at least once.
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