Rockwell Automation Allen-Bradley Kinetix 5100 - Kinetix 5100 Safe Torque off

Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 409
Chapter 13
Kinetix 5100 Safe Torque Off (STO) Feature
The 2198-Exxxx-ERS servo drives are equipped for hardwired Safe Torque Off
(STO). The hardwired STO function meets the requirements of Performance
Level d (PLd) and safety category 3 (CAT 3) per ISO 13849-1 and SIL 2 per IEC
61508, IEC 61800-5-2 and IEC 62061.
The 2198-Exxxx-ERS servo drives use the STO connector for wiring external
safety devices and cascading hardwired safety connections from one drive to
another.
Figure 217 - Hardwired Safe Torque Off
Topic Page
Certification 410
Description of Operation 411
Average Frequency of a Dangerous Failure per Hour 414
Safe Torque Off Connector Data 415
Wire the Safe Torque Off Circuit 415
Safe Torque Off Feature 416
Safe Torque Off Specifications 418
Safe Torque Off Wiring Diagrams 418
5100
2
1
NET
MOD
CHARGE
I/0
AUX
U
V
W
DC+
ISH
ESH
P1
P2
DC–
L1
L2
L3
L1C
L2C
5100
2
1
NET
MOD
CHARGE
I/0
AUX
U
V
W
DC+
ISH
ESH
P1
P2
DC–
L1
L2
L3
L1C
L2C
5100
2
1
NET
MOD
CHARGE
I/0
AUX
U
V
W
DC+
ISH
ESH
P1
P2
DC–
L1
L2
L3
L1C
L2C
1606-XL
Power Supply
Input
Allen-Bradley
AC Input Power
Safety
Device
1606-XLxxx
24V DC Functional Safety Power
(customer-supplied)
Safe Torque Off (STO) Connectors
Kinetix® 5100 Servo Drives
(2198-E1020-ERS drives are shown)