292 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021
Chapter 9 Kinetix 5700 Safe Torque-off Function
Description of Operation
The safe torque-off feature provides a method, with sufficiently low probability
of failure, to force the power-transistor control signals to a disabled state.
When disabled, or any time power is removed from the safety enable inputs, all
of the drive output-power transistors are released from the ON-state. This
results in a condition where the drive performs a Category 0 Stop (refer to Stop
Category Definition on page 284). Disabling the power transistor output does
not provide physical isolation of the electrical output that is required for some
applications.
For hardwired control of the safe torque-off (STO) function:
• The STO function needs to be in Hardwired STO mode
• The appropriate wiring must be connected to the Safety (STO) connector
plug
Refer to Hardwired Safe Torque-off Electrical Specifications
on page 302 for
more information on the safety inputs.
Under normal operation, the safe torque-off inputs are energized. If either of
the safety enable inputs are de-energized, then all of the output power
transistors turn off. The safe torque-off response time is less than 12 ms.
ATTENTION: Permanent magnet motors can, in the event of two
simultaneous faults in the IGBT circuit, result in a rotation of up to 180
electrical degrees.
ATTENTION: If any of the safety enable inputs de-energize, the Start Inhibit
field indicates the SafeTorqueOffInhibit and GuardStopRequestStatus bits of
the AxisGuardStatus tag are set to 1.
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