Rockwell Automation Allen-Bradley Kinetix 5700 - Page 301

Rockwell Automation Publication 2198-UM002L-EN-P - October 2021 301
Chapter 9 Kinetix 5700 Safe Torque-off Function
In this example, the cascaded safe torque-off (STO) wiring is for an application
with three dual-axis inverters and two separate safety devices.
Figure 144 - Cascaded STO Wiring - Dual-axis Inverters with Two Safety Devices
In this example, the cascaded STO wiring is for an application with three dual-
axis inverters and a single safety device for all axes.
Figure 145 - Cascaded STO Wiring - Dual-axis Inverter with Single Safety Device
SB+/NC
S1A
SCA
S2A
SB-
S1B
SCB
S2B
SB+/NC
S1A
SCA
S2A
SB-
S1B
SCB
S2B
24V DC
SB+/NC
S1A
SCA
S2A
SB-
S1B
SCB
S2B
1
2
12
3
4
5
6
7
8
9
10
11
13
14
15
16
1
2
12
3
4
5
6
7
8
9
10
11
13
14
15
16
1
2
12
3
4
5
6
7
8
9
10
11
13
14
15
16
First Drive
Middle Drive
Last Drive
Dual-channel
Equivalent
Safety Device
Dual-channel
Equivalent
Safety Device
24V DC
SB+/NC
S1A
SCA
S2A
SB-
S1B
SCB
S2B
SB+/NC
S1A
SCA
S2A
SB-
S1B
SCB
S2B
SB+/NC
S1A
SCA
S2A
SB-
S1B
SCB
S2B
1
2
12
3
4
5
6
7
8
9
10
11
13
14
15
16
1
2
12
3
4
5
6
7
8
9
10
11
13
14
15
16
1
2
12
3
4
5
6
7
8
9
10
11
13
14
15
16
First Drive
Middle Drive
Last Drive
Dual-channel
Equivalent
Safety Device