Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 377
Kinetix 5100 Safe Torque Off (STO) Feature Chapter 13
Description of Operation
The Safe Torque Off (STO) 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. Disabling the
power transistor output does not provide mechanical isolation of the electrical
output that is required for some applications.
For hardwired control of the safe torque-off function, the appropriate wiring
must be connected to the Safety connector plug. Refer to Safe Torque
Off
Specifications on page 385 for more information on the safety inputs.
Under normal operation, the safe torque-off inputs are energized. If an STO fault
is detected, then all of the output power transistors turn off. The safe torque-off
response time is less then 20 ms.
The ServoOutputStatus parameter represents various drive status values. Bit 0
(Servo Ready) is used to indicate the status of the Safe Torque Off inputs. This
bit can be monitored in KNX5100C software.
Figure 189 - ServoOutputStatus Parameter Setting
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.
ATTENTION: If either of the safety enable inputs are de-energized for more
than 1 second, or both inputs are in the OFF state simultaneously for more than
10 ms, a fault condition results.
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