414 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 13 Kinetix 5100 Safe Torque Off (STO) Feature
For Safety Status (SS), you can configure one parameter/attribute, ID252
(P2.093) STOFeedbackConfiguration and determine whether SS will latch, if
an STO fault occurs. If SS signal is latched when STO fault occurs, the status of
SS signal remains even when the fault has been cleared.
Figure 223 - Parameter Format Legend
Average Frequency of a
Dangerous Failure per Hour
Safety-related systems are classified as operating in a High-demand/
continuous mode. The SIL value for a High-demand/continuous mode safety-
related system is directly related to the probability of a dangerous failure
occurring per hour (PFH).
PFH calculation is based on the equations from IEC 61508 and show worst-case
values. Table 127
provides data for a 20-year proof test interval and
demonstrates the worst-case effect of various configuration changes on the
data.
IMPORTANT
The STO fault (E 500) can be reset only if both inputs are in the ON
state. After the fault reset requirement is satisfied, a Fault Reset
(AOI: raC_xxx_K5100_MAFR instruction) command in the application
software or DI.ARST (physical input) must be issued to reset the
E 500 fault. You can reset faults E 501, E 502, and E 503 with power
cycle.
Table 126 - SS Signal Status/Behavior for STO Faults
Servo Drive Status
SS Signal Status
(1)
(1) Open indicates no continuity between SS+ and SS– an open circuit. Close indicates continuity between SS+ and SS– is
a short circuit.
Parameter ID252 (P2.093) XX1X XX2X
SS signal behavior No latch Latch
No STO fault occurs Open
STO fault occurs
E 500 Close
E 501 Open
E 502 Open
E 503 Open
ID252 (P2.093) = XX. 0 X
Reserved
Latch Status
1 = SS no latch
2 = SS latch
Reserved
IMPORTANT
Determination of safety parameters is based on the assumptions
that the system operates in High-demand mode and that the safety
function is requested at least once every three months.
Table 127 - PFH for 20-year Proof Test Interval
Attribute Value
PFH (1e-9) 0.96
Proof test (years) 20
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