66 Rockwell Automation Publication 2198-UM001M-EN-P - November 2022
Chapter 4 Connector Data and Feature Descriptions
Safe Torque Off Safety
Features
Kinetix 5500 servo drives have Safe Torque Off (STO) capability and can safely
turn off the inverter power transistors in response to the removal of the STO
digital inputs, resulting in Stop Category 0 behavior.
Servo Drives with Hardwired Safety
2198-Hxxx-ERS (hardwired) servo drives support parallel input terminals for
cascading to adjacent drives over duplex wiring. For applications that do not
require the STO safety function, you must install jumper wires to bypass the
Safe Torque Off feature.
See Chapter 9
beginning on page 157. for the STO connector pinout,
installation, and wiring information.
Servo Drives with Integrated Safety
For 2198-Hxxx-ERS2 (integrated safety) servo drives, the GuardLogix® 5570 or
Compact GuardLogix 5570 safety controller issues the STO command via the
EtherNet/IP™ network and the 2198-Hxxx-ERS2 servo drives execute the
command.
See Chapter 10
beginning on page 165. for integrated safety drive
specifications, configuring motion and safety connections, motion direct
commands, and the STO bypass feature.
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