Wiring
4.5 Connecting an encoder
F-TM ServoDrive
Equipment Manual, 02/2020, A5E47579503-AA
27
4.5.2 Connecting safe torque off (Hardware STO)
Safe Torque Off (STO)
The safety function Hardware STO is activated via an exclusive safe input (STO+ and STO-).
The F-TM ServoDrive safely switches off the control of the motor. As long as Hardware STO
is active, the motor does not generate any torque.
The safe state "Safe Torque Off" corresponds to the de-energized state at STO+/STO-
(closed-circuit current principle).
The Hardware STO function meets the specification of a digital input according to EN 61131-
2 Type 1 without limitation. In addition, this input has an increased leakage current
resistance of 5 mA. That is, at leakage currents below 5 mA, the safe state is always
selected.
Danger to life due to coasting down of the drive with STO
The Category 0 stop function according to EN 60204-1 (STO according to Safety
Integrated) means that the drives are not braked but instead coast down for an amount of
time corresponding to the kinetic energy.
• You must take this behavior into account, for example, in the logic for the protective
door interlock.
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