Rockwell Automation Publication 2198-RM005A-EN-P - October 2020 31
Connectors Chapter 2
Safe Torque Off Connector
Both the Kinetix 350 and Kinetix 5300 drives have a Safe Torque Off (STO)
connector. The STO pinouts are different between the two drives. See
Figure 10
for a comparison of the two connectors. See the Kinetix 350
Single-axis EtherNet/IP Servo Drive User Manual, publication 2097-UM002
for information on STO with the Kinetix 350 drive. See the Kinetix 5300 Single-
axis EtherNet/IP Servo Drives User Manual, publication 2198-UM005
for
information on STO with the Kinetix 5300 drive.
The Kinetix 350 drive ships with the 6-pin wiring-plug that connects your
safety circuit to the Kinetix 350 drive safe torque-off (STO) connector.
The Kinetix 5300 10-pin connector consists of two parallel 5-pin rows for
cascading safety connections from drive-to-drive when drives are joined by the
zero-stack feature.
Table 29 - Kinetix Drives Motor Feedback Connectors Assignment Comparison
Kinetix 350 Kinetix 5300
Pin Description Signal Pin Description Signal
1
Sine differential input+
AM+ differential input+
SIN+
AM+
1
Sine differential input +
AM differential input +
MTR_SIN+
MTR_AM+
2
Sine differential input-
AM- differential input-
SIN-
AM-
2
Sine differential input–
AM differential input–
MTR_SIN–
MTR_AM–
3
Cosine differential input+
BM+ differential input+
COS+
BM+
3
Cosine differential input +
BM differential input +
MTR_COS+
MTR_BM+
4
Cosine differential input-
BM- differential input-
COS-
BM-
4
Cosine differential input –
BM differential input –
MTR_COS–
MTR_BM–
5
Data differential input +
Index pulse+
DATA+
IM+ 5
Data differential
input/output +
IM differential input +
MTR_DATA+
MTR_IM+
6 Common ECOM 6 Encoder common MTR_ECOM
7
Encoder power (+9V)
(1)
(1) Encoder power supply uses either 5V or 9V DC based on encoder/motor used.
EPWR_9V
7
Encoder 9V power output
(3)
(3) Determine which power supply your encoder requires and connect to only the specified supply. Do not make connections to
both supplies.
MTR_EPWR9V
8
Single-ended 5V Hall effect
commutation
S3 8 Hall commutation S3 input MTR_S3
9 Reserved — 9 Reserved –
10
Data differential input -
Index pulse-
DATA-
IM- 10
Data differential
input/output –
IM differential input –
MTR_DATA-
MTR_IM–
11
Motor thermal switch
(normally closed)
(2)
(2) Not applicable unless motor has integrated thermal protection.
TS 11
Motor thermostat
(normally closed)
(2)
MTR_TS
12
Single-ended 5V Hall effect
commutation
S1 12 Hall commutation S1 input MTR_S1
13
Single-ended 5V Hall effect
commutation
S2 13 Hall commutation S2 input MTR_S2
14 Encoder power (+5V)
(1)
EPWR_5V
14
Encoder 5V power output
(2)
MTR_EPWR5V
15 Reserved — 15 Reserved –
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