Rockwell Automation 2097-Vxxx Kinetix 300 EtherNet/IP Indexing Servo Drive User Manual - Manual (Page 166)

166 Rockwell Automation Publication 2097-UM001D-EN-P - November 2012
Chapter 8 Kinetix 300 Drive Safe Torque-off Feature
Kinetix 300 Drive Safe
Torque-off Feature The safe torque-off circuit, when used with suitable safety components, provides
protection according to ISO 13849-1 (PLd). The safe torque-off option is just
one safety control system. All components in the system must be chosen and
applied correctly to achieve the desired level of operator safeguarding.
The safe torque-off circuit is designed to safely remove power from the gate firing
circuits of the drives output power devices (IGBTs). This prevents them from
switching in the pattern necessary to generate AC power to the motor.
You can use the safe torque-off circuit in combination with other safety devices to
meet the stop and protection-against-restart requirements of ISO 13849-1.
Safe Torque-off Feature Bypass
The drive is supplied from the factory with the safe torque-off circuit enabled.
The drive is not operational until +24V is present at terminals STO-4 and STO-
6. When safety connections are not required, the drive can be operated with the
safety circuit disabled.
Use jumper wires, as shown, to defeat the safe torque-off function.
Figure 78 - STO Motion-allowed Jumpers
ATTENTION: This option is suitable for performing mechanical work on the
drive system or affected area of a machine only. It does not provide electrical
safety.
SHOCK HAZARD: In Safe Torque-off mode, hazardous voltages may still be
present at the motor. To avoid an electric shock hazard, disconnect power to the
motor and verify that the voltage is zero before performing any work on the
motor.
IMPORTANT Pins STO-1 (+24V DC Control) and STO-2 (Control COM) are used only by the
motion-allowed jumpers to defeat the safe torque-off function. When the safe
torque-off function is in operation, the 24V supply must come from an external
source.
STO-1
STO-2
STO-3
STO-4
STO-5
STO-6