Rockwell Automation Publication 2198-UM002L-EN-P - October 2021 291
Chapter 9 Kinetix 5700 Safe Torque-off Function
Safe Torque-off Faults
When a safety fault is indicated in any of the following tags:
• SI.SafetyFault
• Axis.SafetyFaultStatus
• Axis.SafetyTorqueOffFault
The cause of the fault can be read using an explicit message.
Hardwired Safe Torque-off This section introduces you to the Kinetix 5700 hardwired safe torque-off
(STO) feature that meets the requirements of Performance Level e (PL e) per
ISO 13849-1 and SIL CL 3 per IEC 61508, IEC 61800-5-2 and IEC 62061.
The 2198-xxxx-ERS3 and 2198-xxxx-ERS4 inverters use the STO connector for
wiring external safety devices and cascading hardwired safety connections
from drive-to-drive.
Compatible Controllers
A ControlLogix® 5570, ControlLogix 5580, CompactLogix™ 5370 or
CompactLogix 5380 controller is required for drive control.
The Studio 5000 Logix Designer® application provides support for
programming, commissioning, and maintaining these CompactLogix and
ControlLogix controllers with Kinetix 5700 drive systems.
Table 161 - Safe Torque-off Fault Type: MSG
Parameter Value Description
Service Code 0x0E Get attribute single
Class 0x5A Safety stop functions
Instance 1 or 2 Inverter axis number
Attribute 0x108 STO fault type
Data Type SINT Short integer
Table 162 - Safe Torque-off Fault Type: Values
Value Definition
1No Fault
3 Circuit Error
104 Hardwired input in Network mode
Table 163 - Studio 5000 Logix Designer Requirements
Studio 5000 Logix Designer
Application
Kinetix Dual-axis Inverters
Cat. No.
Kinetix Single-axis Inverters
Cat. No.
Version 26 or later 2198-Dxxx-ERS3 (series A) 2198-Sxxx-ERS3 (series A)
Version 31 or later
2198-Dxxx-ERS4
2198-Dxxx-ERS3 (series B)
2198-Sxxx-ERS4
2198-Sxxx-ERS3 (series B)
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