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74 Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019

Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives

Configure Module Definition

1. Under Module Definition click Change.

The Module Definition dialog box appears.

Depending on the Module Definition revision selection, alternate

product features and feedback types can be selected. However, 2198-

xxxx-ERS4 drives only appear in drive firmware revision 9.001 or later.

2. From the Safety Application pull-down

menu, choose between Hardwired for

Hardwired STO mode or Networked for an

integrated safety application (see Ta ble 17

for definitions).

IMPORTANT If the STO bypass jumper wires were applied during machine

commissioning or maintenance, they must be removed before the

drive can operate in Integrated (Networked) safety mode.

Table 17 - Safety Application Definitions

Safety Application Mode

(1)

Safety Functions Minimum Drive Module

Required

(2)

Drive Module Connection

Options

Minimum Controller

Required

(2)

Hardwired Hardwired STO 2198-xxxx-ERS3 Motion Only • ControlLogix® 5570

• CompactLogix™ 5370

Networked Integrated STO 2198-xxxx-ERS3 • Motion and Safety

•Motion Only

• Safety Only

• GuardLogix® 5570

• CompactLogix 5370

•Integrated STO

• Timed SS1

2198-xxxx-ERS3 • Motion and Safety

•Motion Only

• Safety Only

• GuardLogix 5570

• CompactLogix 5370

•Integrated STO

• Timed SS1

• Monitored SS1

• Controller-based safety

functions

2198-xxxx-ERS4 • Motion and Safety

•Motion Only

• Safety Only

• GuardLogix 5580

• CompactLogix 5380

(1) For 2198-Dxxx-ERS4 (dual-axis) inverters, you must configure axis 1 and 3 as Networked or Hardwired, they cannot be mixed.

(2) Where a ControlLogix or CompactLogix (non-safety) controller is specified, a GuardLogix or Compact GuardLogix controller is backwards compatible, but not necessary for the specified safety

application, function, and connection. Also, GuardLogix 5580 and Compact GuardLogix 5380 controllers are backwards compatible with GuardLogix 5570 and Compact GuardLogix 5370 controllers.