Hardwired Safe Torque-Off; Compatible Controllers; Description Of Operation - Allen-Bradley Kinetix 5700 User Manual

Chapter 9 Kinetix 5700 Safe Torque-off Function

Hardwired Safe Torque-off

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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
Studio 5000 Logix Designer
Application
Version 26 or later
Version 31 or later

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
Category Definition
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
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.
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.
Rockwell Automation Publication 2198-UM002G-EN-P - February 2019
Kinetix Dual-axis Inverters
Cat. No.
2198-Dxxx-ERS3 (series A)
2198-Dxxx-ERS4
2198-Dxxx-ERS3 (series B)
on page 306). Disabling the power transistor output does
Kinetix Single-axis Inverters
Cat. No.
2198-Sxxx-ERS3 (series A)
2198-Sxxx-ERS4
2198-Sxxx-ERS3 (series B)
Stop
on page 323 for