386 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 13 Kinetix 5100 Safe Torque Off (STO) Feature
Safe Torque Off Wiring
Diagrams
This section provides a typical wiring diagram for the Kinetix 5100 Safe Torque
Off (STO) feature with other Allen-Bradley safety products.
For additional information regarding Allen-Bradley safety products, including
safety relays, light curtain, and gate interlock applications, see the Safety
Components, webpage https://www.rockwellautomation.com/en_NA/
products/safety-components/overview.page.
The drive is shown in a single-axis relay configuration for Stop Category 0 per
IEC-60204-1 Safety of Machinery Directive. This is an example, however, and
your application can differ based on the required overall machine performance
level requirements.
Figure 199 - Single-axis Relay Configuration (Stop Category 0)
(1) Bypass Jumper is removed from SB+ and SB-.
Sinking output status is true (=1) when the drive displays E 500 status (SS+ and SS- are closed).
IMPORTANT The Kinetix 5100 drive has been qualified and rated as a component to meet
ISO 13849-1 performance level d (PLd), category 3.
It is suggested to evaluate the entire machine performance level required with
a risk assessment and circuit analysis. Contact your local distributor or Rockwell
Automation Sales for more information.
SS+/SS–
S1
S1C/S2C
S2
S21 S22 S34 A2 14 24 34 42
A1 S11 S52 S12 13 23 33 41
Kinetix 5100 Drive
STO
(1)
Connector with
Wiring Header
External 24V COM
STO Demand
External +24V DC
Allen-Bradley®
Monitoring Safety Relay
MSR127RP (440R-N23135)
IMPORTANT Reset of the STO fault is required via digital input DI.ARST or
raC_Dvc_5100_MAFR instruction.
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