416 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 13 Kinetix 5100 Safe Torque Off (STO) Feature
Safe Torque Off Wiring Requirements
The Safe Torque Off (STO) connector uses spring tension to secure the wire.
Depress the orange tab along side each pin to insert or release the wire. Wire
must be copper with 75 °C (167 °F) minimum rating.
Figure 225 - Safe Torque Off Terminal Plug
Safe Torque Off Feature The Safe Torque Off (STO) circuit, when used with suitable safety components,
provides protection according to ISO 13849-1 (PLd), Category 3 or according to
IEC 61508, IEC 61800-5-2, and IEC 62061 (SIL CL2). All components in the
system must be chosen and applied correctly to achieve the desired level of
operator safeguarding.
The Safe Torque Off circuit is designed to safely turn off all of the output-
power transistors. You can use the Safe Torque Off circuit in combination with
other safety devices to achieve Stop Category 0 and protection-against-restart
as specified in IEC 60204-1.
IMPORTANT
Stranded wires must terminate with ferrules to prevent short
circuits, per table D.4 of ISO 13849-2:2012.
SB–
S1C
S2C
SS–
SB+
S1
S2
SS+
Kinetix 5100 Servo Drive
Top View
Table 129 - Safe Torque Off Terminal Plug Wiring
Signal
Recommended Wire Size
mm
2
(AWG)
Strip Length
mm (in.)
Torque Value
N•m (lb•in)
SB+
SB-
S1
S1C
S2
S2C
SS+
SS-
0.75 (18))
(stranded wire with ferrule)
1.5 (16)
(solid wire)
8.0 (0.31)
N/A
(1)
(1) This connector uses spring tension to hold the wires in place.
ATTENTION: This option is suitable only for performing mechanical work on
the drive system or affected area of a machine. It does not provide
electrical safety.
SHOCK HAZARD: In Safe Torque Off mode, hazardous voltages can still be
present at the drive. To avoid an electric shock hazard, disconnect power to
the system and verify that the voltage is zero before performing any work on
the drive.
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