316 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021
Chapter 9 Kinetix 5700 Safe Torque-off Function
Functional Safety Considerations
Integrated Safe Torque-off Specifications
ATTENTION: Before maintenance work can be performed in Program mode,
the developer of the application must consider the implications of allowing
motion through motion direct commands and should consider developing
logic for run-time maintenance operations to meet the requirements of
machine safety operating procedures.
ATTENTION: Motion is allowed and the STO function is not available when
motion direct commands are used in Program mode.
Motion direct commands issued when the controller is in Program mode
cause the drive to bypass the STO Active condition.
It is your responsibility to implement additional preventive measures to
maintain safety integrity of the machinery during execution of motion
direct commands in Program mode.
ATTENTION: To avoid personal injury and damage to equipment in the
event of unauthorized access or unexpected motion during authorized
access, return the controller to Run mode and remove the key before
leaving the machine unattended.
IMPORTANT
To maintain safety rating, Kinetix 5700 drives must be installed inside
protected control panels or cabinets appropriate for the environmental
conditions of the industrial location. The protection class of the panel or
cabinet must be IP54 or higher.
Table 173 - Integrated STO Specifications
Attribute Value Logix Designer Tag Name
Safety connection RPI, min 6 ms N/A
Input assembly connections
(2198-xxxx-ERS3 drives)
3
N/A
Input assembly connections
(2198-xxxx-ERS4 drives)
1
Output assembly connections 1 N/A
Integrated safety open request support Type 1 and Type 2 requests N/A
Axis safety status
Bit 0: Safety fault Axis.SafetyFaultStatus
Bit 1: Safety reset request Axis.SafetyResetRequestStatus
Bit 2: Safety Reset Required Axis.SafetyResetRequiredStatus
Bit 3: Safe torque-off active Axis.SafeTorqueOffActiveStatus
Bit 4: Safe torque disabled Axis.SafeTorqueDisabledStatus
Bit 5…31: Undefined (0) N/A
Axis safety faults
Bit 1: Safety core fault Axis.SafetyCoreFault
Bit 3: Safe torque-off fault Axis.SafeTorqueOffFault
All others: Undefined (0) N/A
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