Allen-Bradley Kinetix 5100 2198-E1004-ERS - Multiple-Axis Relay Configuration (Stop Category 0)

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 387
Kinetix 5100 Safe Torque Off (STO) Feature Chapter 13
In this example, the drive is shown with two axes configuration in a relay
configuration for Stop Category 0 per IEC-60204-1 Safety of Machinery
Directive.
Figure 200 - Multiple-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).
SS+/SS–
S1
S1C/S2C
S2
S21 S22 S34 A2 14 24 34 42
A1 S11 S52 S12 13 23 33 41
SS+/SS–
S1
S1C/S2C
S2
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)
Kinetix 5100 Drive
STO
(1)
Connector with
Wiring Header
IMPORTANT Reset of the STO fault is required via digital input DI.ARST or
raC_Dvc_5100_MAFR instruction.