418 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 13 Kinetix 5100 Safe Torque Off (STO) Feature
Safe Torque Off
Specifications
To maintain the safety rating, Kinetix 5100 drives must be installed inside
protected control panels or cabinets appropriate for the environmental
conditions of the industrial location. The protection class of the panel or
cabinet must be IP54 or higher.
Safe Torque Off Wiring
Diagrams
This section provides a typical wiring diagram for the Kinetix 5100 Safe Torque
Off (STO) feature with other Allen-Bradley® safety products.
For additional information regarding Allen-Bradley safety products, including
safety relays, light curtain, and gate interlock applications, see the Safety
Components, webpage https://www.rockwellautomation.com/en_NA/
products/safety-components/overview.page.
The drive is shown in a single-axis relay configuration for Stop Category 0 per
IEC-60204-1 Safety of Machinery Directive. This is an example, however, and
your application can differ based on the required overall machine performance
level requirements.
Table 130 - Safe Torque Off Signal Specifications
Attribute Value
Safety inputs
(per channel)
Input ON voltage 11…30V DC
Input OFF voltage, max 5V DC
Input ON current, per input, max 7.34 mA
Input OFF current, max
(@ V in < 5V DC)
2.9 mA
Pulse rejection width 60 µs
Feedback output OFF current,
max
100 µA
Feedback output ON current,
max
40 mA
Feedback output OFF voltage,
max
30V DC
Feedback output ON voltage,
max
1.5 V @ 40 mA
External power supply SELV/PELV
Input type Optically isolated and reverse voltage protected
IMPORTANT
The Kinetix 5100 drive has been qualified and rated as a component
to meet ISO 13849-1 performance level d (PLd), category 3.
It is suggested to evaluate the entire machine performance level
required with a risk assessment and circuit analysis. Contact your
local distributor or Rockwell Automation Sales for more information.
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