Elettronica Santerno SINUS PENTA Instructions for use

•15W0102B300 •
SINUS PENTA
PENTA MARINE
IRIS BLUE
SAFE TORQUE OFF
FUNCTION
- Application Manual -
Issued on 04/03/2015
R.00
Elettronica Santerno S.p.A.
Via della Concia, 7 - 40023 Castel Guelfo (BO) Italia
Tel. [phone] - Fax [phone]
santerno.com [email protected]
•This manual is integrant and essential to the product. Carefully read the instructions contained herein
as they provide important hints for use and maintenance safety.
•This device is to be used only for the purposes it has been designed to. Other uses should be
considered improper and dangerous. The manufacturer is not responsible for possible damages caused
by improper, erroneous and irrational uses.
•Elettronica Santerno is responsible for the device in its original setting.
•Any changes to the structure or operating cycle of the device must be performed or authorized by
Elettronica Santerno.
•Elettronica Santerno assumes no responsibility for the consequences resulting by the use of non-
original spare-parts.
•Elettronica Santerno reserves the right to make any technical changes to this manual and to the
device without prior notice. If printing errors or similar are detected, the corrections will be included in
the new releases of the manual.
•The information contained herein is the property of Elettronica Santerno and cannot be reproduced.
Elettronica Santerno enforces its rights on the drawings and catalogues according to the law.
E n g l i s h

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TABLE OF CONTENTS
1. BASICS.....................................................................................................................4
1.1. GENERAL................................................................................................................4
1.2. SCOPE AND APPLICATION....................................................................................8
2. ES927 CONTROL BOARD.....................................................................................12
3. DEFINITION OF THE SYSTEM..............................................................................14
3.1. SYSTEM STRUCTURE..........................................................................................14
3.2. FUNCTIONAL DESCRIPTION...............................................................................14
4. DIAGNOSTICS.......................................................................................................16
5. VALIDATING THE OPERATION OF A SAFETY FUNCTION.................................20
5.1. ACCEPTANCE TEST REPORTS...........................................................................20
5.2. AUTHORIZED PERSON........................................................................................20
5.3. PERFORMING THE ACCEPTANCE TEST............................................................20
6. COMMISSIONING, MAINTENANCE AND DECOMMISSIONING, DISPOSAL, FAULT
TRACING AND DIAGNOSTICS.............................................................................. 22
6.1. COMMISSIONING .................................................................................................22
6.2. MAINTENANCE.....................................................................................................22
6.3. DECOMMISSIONING.............................................................................................22
6.4. DISPOSAL.............................................................................................................22
6.5. ALARM MESSAGES GENERATED BY THE DRIVE..............................................23
7. COMPONENTS FOR STO APPLICATIONS ..........................................................24
7.1. ES927 BOARD.......................................................................................................24
7.1.1. ENVIRONMENTAL REQUIREMENTS FOR EQUIPMENT INSTALLATION,
STORAGE AND TRANSPORT ................................................................................... 24
7.2. SAFETY RELAY PROPOSAL FOR STO APPLICATION.......................................25
7.3. PUSH-BUTTON PROPOSAL TO BE USED WITH EMERGENCY STOP FOR STO
APPLICATION........................................................................................................25
7.4. SWITCH PROPOSAL TO BE USED WITH PREVENTION OF UNEXPECTED
START-UP FUNCTION IMPLEMENTED WITH STO FOR STO APPLICATION ....25
7.5. CABLE PROPOSAL FOR STO APPLICATION......................................................25
8. STO TECHNICAL DATA......................................................................................... 26
8.1. STO DATA RELATED TO SAFETY STANDARDS.................................................26
9. TERMS AND ABBREVIATIONS.............................................................................27

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Index of Figures
Figure 1 –Some Sinus Penta compact models............................................................................................ 5
Figure 2 –Installation example of a Sinus Penta S64/S70........................................................................... 6
Figure 3 –Installation example of a Sinus Penta S74................................................................................... 7
Figure 4 –Installation example of a Sinus Penta S75/S80........................................................................... 7
Figure 5 - Example schematic diagram of STO function with Safety Relay PILZ PNOZ X3 for safe power
cut off............................................................................................................................................................. 9
Figure 6 - Example schematic diagram of the STO function with simple emergency pushbutton.............. 10
Figure 7 –Top view of ES927..................................................................................................................... 12
Figure 8 –Front view of terminal blocks for ES927..................................................................................... 13
Figure 9 –LEDs and Display on ES927...................................................................................................... 13
Figure 10 –Integration of the STO function into the drives......................................................................... 14

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1. BASICS
1.1. General
The Santerno Sinus Penta, Penta Marine and Iris Blue inverter product lines, now equipped with the new
ES927 control board, support the Safety Torque Off (STO) function. This document instructs the user on
how to properly apply the Safety Torque Off (STO) function implemented on the inverters.
The above mentioned inverters allow adjusting speed and torque values of three-phase asynchronous
motors and brushless permanent-magnet AC motors with several control modes. Control modes may be
user-defined and allow obtaining the best performances in terms of fine-tuning and energy saving for any
industrial application.
The Safe Torque Off (STO) function, integrated in these product lines, is a particular stopping method
defined in clause 4.2.2.2 of EN 61800-5-2 (2007-10), as listed below:
“4.2.2.2 Safe Torque Off (STO)
Power, that can cause rotation (or motion in the case of a linear motor), is not applied to the motor. The
PDS(SR) (Power Drive System Safety-Related) will not provide energy to the motor which can generate
torque (or force in the case of a linear motor).
NOTE 1 This safety function corresponds to an uncontrolled stop in accordance with stop category
0 of IEC 60204-1.
NOTE 2 This safety function may be used where power removal is required to prevent an
unexpected start up.
NOTE 3 In circumstances where external influences (for example, falling of suspended loads) are
present, additional measures (for example mechanical brakes) may be necessary to prevent any hazard.
NOTE 4 Electronic means and contactors are not adequate for protection against electric shock,
and additional measures for isolation may be necessary.”
The STO is a function that allows stopping the motor in a safe way if externally demanded. The STO
function removes power from the motor by disabling the PWM commands from the CPU to the IGBT
drivers.
The STO function can be used also to prevent unexpected start up of the motor.
The STO function in the Sinus Penta, Penta Marine and Iris Blue drives is obtained at a hardware level
and its activation is absolutely independent of the software and the CPU of the inverter. The drive
firmware implements only non-critical diagnostic functions related to the STO function.
Where external influences (for example, falling of suspended loads) are present, additional measures (for
example mechanical brakes) may be necessary to prevent any hazard.
WARNING
The Safe Torque Off function does not cut off the mains voltage and auxiliary
circuits from the drive. Therefore, maintenance work on electrical parts of the
drive or the motor can only be carried out after isolating the drive system from
the mains supply.
NOTE
The Safe Torque Off function can be used for stopping the drive in
emergency stop situations. In normal operating mode, it is recommended not
to stop the drive by using the Safe Torque Off function. If a running drive is
stopped by using the Safe Torque Off function, the drive will trip and perform
a coast to stop. If this is not acceptable, e.g. causes danger, the drive and
machinery must be stopped using the appropriate stopping mode instead of
adopting the STO function.
NOTE
Note concerning permanent magnet motor drives in case of multiple
IGBT power semiconductor failure:
Due to the possible DC output voltage present for certain multiple IGBT
failures, in spite of the activation of the Safe Torque Off function, the drive
system can produce an alignment torque which maximally rotates the motor
shaft by 180/p degrees (p is the pole pair number).

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PENTA MARINE
IRIS BLUE
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Figure 1 (compact inverter) and Figure 2, Figure 3, Figure 4 (modular inverter) show the different sizes
and structures of inverters relative to the Sinus Penta drives.
The Penta Marine and Iris Blue product lines share the same sizes and physical appearance as the Sinus
Penta; the only differences lie in the control functions and the selection of power conversion components,
optimized for the target market.
This manual covers the three product lines as they share the same control board ES927 and the STO
function is implemented exclusively in the control board hardware components.
Figure 1 –Some Sinus Penta compact models

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Figure 2 –Installation example of a Sinus Penta S64/S70
S2
R2
T2 T1
R1
S1
U1 V1
S64
S65
S70

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Figure 3 –Installation example of a Sinus Penta S74
Figure 4 –Installation example of a Sinus Penta S75/S80
(S75 includes two power supply unit modules)

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1.2. Scope and Application
The drives support the Safe Torque Off (STO) function according to standards EN 61800-5-2:2007, EN
ISO 13849-1:2008, EN 61508:2010.
The STO may be used where power cut off is required to prevent unexpected start up. The STO function
disables the control voltage of the power semiconductors of the drive output stage, thus preventing the
inverter from generating the voltage required to rotate the motor (see diagram below). By using this
function, short-time operations (like cleaning) and/or maintenance activities on non-electrical parts of the
machinery can be performed without cutting off the power supply to the drive.
Figure 5 shows an example of a schematic diagram of STO with Safety Relay PILZ PNOZ X3 for safe
power cut off.

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Figure 5 - Example schematic diagram of STO function with Safety Relay PILZ PNOZ X3 for safe
power cut off
The circuit operation is described below.
Start/Stop command is obtained through special-purpose push-buttons.
When the STO command circuit is activated, for the Safety Relay PILZ PNOZ X3:
Input circuits S21-S22 and S31-S32 are open.
Instantaneous output contacts 13-14 and 23-24 will be opened.
At the same time, the ‘Safe Torque Off’ function is activated for the drive, because ENABLE-A (pin 15)
end ENABLE-B (pin S) are de-energized, and consequently the output voltage to the motor is removed.
The motor will be stopped in free-run and the time taken to come to a complete stop will depend on the
load inertia.
The Safety Relay will be reset when, after deactivating the ‘Emergency Stop’, the ‘RESET’ push-button is
pressed: in this case, 13-14 and 23-24 are closed and 24Vdc power supply is restored to the ENABLE-A
and ENABLE-B inputs of the drive.
The ‘Safe Torque Off’ function is deactivated in the Drive and the output voltage to the motor is restored.
The motor will start when receiving the start command through the ‘START’ push-button.
The output relay contacts of the drive can be programmed with one of the software functions available for
remote signalling, including the input Enable Drive status. Being the output relay circuitry based on a
single hardware channel, and being the activation function software programmable by the user, it cannot
be considered as a safe status indication. Therefore, the confirmation that the STO function is active
cannot be safely obtained from the output relay contact of the drive.
Figure 6 shows a simpler example where both ENABLE-A and ENABLE-B are directly controlled by a two-
contact emergency switch.




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Figure 6 - Example schematic diagram of the STO function with simple emergency pushbutton

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The circuit operation is straightforward, and similar to the previous example.
In both cases, the ENABLE-A and ENABLE-B command circuits shall be carried out with care on the
cables layout, avoiding that possible damage to cable insulation could result in unwanted circuit excitation.
In particular, shielded cables are recommended if the signals shall be routed for long distances and cables
might be damaged.
In this case, the shield shall be connected to the 0Vdc circuit. The ‘0’ terminal beside the ‘S’ terminal and
terminal “22” shall be used for the connection of the cable shield to the 0Vdc/CMD circuit.
If the shielded cable is severed, the short circuit between the shield and the internal conductor will de-
energize the affected ENABLE circuit, guaranteeing the activation of the STO function.
WARNING
The Safe Torque Off function does not cut off the mains voltage and auxiliary
circuits from the drive. Therefore, maintenance work on electrical parts of the
drive or the motor can only be carried out after isolating the drive system from
the mains supply.
NOTE
The Safe Torque Off function can be used for stopping the drive in emergency
stop situations. In normal operating mode, it is recommended not to stop the
drive by using the Safe Torque Off function. If a running drive is stopped by
using the Safe Torque Off function, the drive will trip and perform a coast to
stop. If this is not acceptable, e.g. causes danger, the drive and machinery
must be stopped using the appropriate stopping mode instead of adopting the
STO function.
NOTE
Note concerning permanent magnet motor drives in case of multiple
IGBT power semiconductor failure:
Due to the possible DC output voltage present for certain multiple IGBT
failures, in spite of the activation of the Safe Torque Off function, the drive
system can produce an alignment torque which maximally rotates the motor
shaft by 180/p degrees (p is the pole pair number).
NOTE
It is recommended to route two separate conductors for the ENABLE-A and
ENABLE-B input signals to the drive. This will avoid common failures that can
result in an unwanted deactivation of the STO function.

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PENTA MARINE
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2. ES927 CONTROL BOARD
Figure 7 –Top view of ES927
M9 Pin 1-Label S ENABLE-B
M4 Pin 2-Label 15 ENABLE-A
LEDs and Display

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Figure 8 –Front view of terminal blocks for ES927
Figure 9 –LEDs and Display on ES927
LED L9 SCK2
LED L8 SCK1
LED L2
PWM ENABLE
LED L1 RUN
LED L6 5V
LED L5 15V
LED L4 15V
Display
M9 Pin 1-Label S ENABLE-B
M4 Pin 2-Label 15 ENABLE-A

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All the Sinus Penta, Penta Marine and Iris Blue drives are equipped with the same ES927 control board.
Figure 7,
Figure 8 and
Figure 9 show the relevant components related to the STO function.
In particular, Figure 7 shows the diagnostic display and the ENABLE-A and ENABLE-B terminals
locations, while
Figure 8 and
Figure 9 show the details of the terminals and the diagnostic LEDs indicators.
The diagnostic test procedure, covered in the following sections, refers to those LEDs indicators.
3. DEFINITION OF THE SYSTEM
3.1. System Structure
The STO function operates in the CPU & CONTROL LOGIC board called ES927.
When both STO inputs are energized, the STO function is on standby and the drive operates normally.
The STO function is active (motor stopped) when one of the two inputs is de-energized: if at least one of
the STO inputs is de-energized, the STO function is active and stops the drive; the drive can start only
after the STO inputs have been energized and the drive faults (if any) have been reset.
CAUTION
The STO function is based on a dual channel hardware implementation. To
achieve the rated protection level guaranteed by ES927 board, both the
ENABLE-A and ENABLE-B shall be de-energized to obtain the STO function.
3.2. Functional Description
The motor stop is obtained by cutting the PWM signals from the CPU to the IGBT Drivers. This cut is
made with two series-connected, 3-state buffers: both buffers must be enabled to allow transferring the
PWM signals to the IGBTs.
The enable signals (ENABLE-A and ENABLE-B) come from the two separate channels that process
independently the external demand.
The motor can work only if both channels send the Enable signal, while if only one Enable signal is
removed, the motor is stopped.
Figure 10 shows the block diagram of the integration of the STO function into the Sinus Penta, Penta
Marine and Iris Blue drives.
Figure 10 –Integration of the STO function into the drives

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The STO function breaks out the PWM logic signals at ES927 control board level; therefore, it is
completely independent of the power size of the drive.

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4. DIAGNOSTICS
The STO function is based on a double channel with diagnostic (1oo2 in the IEC 61508-6 nomenclature)
hardware architecture. This means that diagnostic tests are required to validate the STO function and to
periodically verify the hardware integrity.
The two diagnostic tests, working at different levels and with different timing, are based on consistency
check logics and three indicator LEDs.
The two diagnostic tests are the following:
DT01 Periodic proof-test (related to “System OK” L8 and L9 LEDs)
DT02 Periodic proof-test (related to “PWM Enable” L2 LED)
As specified in the following descriptions, the simple and easy diagnostic test DT01-DT02 has to be
performed by the User at an interval time lower than or equal to one year.
To do that it is needed to remove, if present, the display/keypad from the front of the drive and to verify the
status of the diagnostic LEDs from the transparent window.
The diagnostic test requires the individual energization and de-energization of the two ENABLE-A and
ENABLE-B commands. Therefore, the drive application circuit shall allow for this operation. The easiest
way to do this is to provide switches or pushbuttons, preferably operable only by service people, applied in
series to the two ENABLE-A and ENABLE-B wires.
Another continuous coherency check is performed by the board CPU under firmware control. This is an
additional verification of the STO related signals, and the result, if failing, is reported as alarm A140. When
the alarm trips, the drive operation is locked. This test is independent of the drive status and does not
require any operation by the user. Alarm A140 is detailed in section 6.5 Alarm Messages Generated by
the Drive.
DT01 Periodic proof-test (Diagnostic LEDs “System OK” L8 and L9)
Based on hardware components only.
Performed with a specified sequence of 4 steps.
Checked by visual inspection of Diagnostic LEDs “System OK” L8 and L9.
Proof-test Interval: one year.
NOTE
This proof-test circuit is integrated into ES927 board to prevent the presence
of dormant failures.
A hardware proof-test circuit based on redundant logic gates has been implemented on ES927 and the
periodic proof-test is activated by an external command. The check is performed with the activation of the
STO function (by activation of external components for de-energization of at least one of the STO input
signals).
The diagnostic circuit reads the command signals status present in the two channels of STO function
circuit and, when the test is active, its combinational logic gives “true” only if all the command signals in
both channels are correct. In this case, both the Diagnostic LEDs “System OK” L8 and L9 are ON.
In particular, when the STO function is activated, the proof-test hardware circuit checks the congruence of
all the PWM signal across the logic output buffers, and it is able to detect failures associated with those
components.

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The DT01 proof-test needs to be performed in 4 steps:
Step nr1
Drive is working with motor torque applied to motor.
This condition is obtained by energizing both STO input signals (ENABLE-A and ENABLE-B)
and transmission of PWM commands from Microcontroller to the IGBT Drivers.
WARNING:
Speed and torque applied during this step need to be compliant with acceptable working
conditions of the application where the drive is installed.
Step nr1
partial
result
No Test Result required: this condition is based on FW code and for this Diagnostic Test we
need to use only HW components.
Step nr2
Activation of STO function, so no motor torque is applied to the motor.
This condition is obtained by de-energization of one STO input signal (ENABLE-A).
Step nr2
partial
result
Test Result PASS: Diagnostic LEDs “System OK” L8 and L9 are LIGHT ON.
Both the Diagnostic LEDs “System OK” L8 and L9 are LIGHT ON only if all the internal and
intermediate PWM signals are retained at the proper logic level corresponding to STO activation.
Test Result FAIL: Diagnostic LEDs “System OK” L8 and/or L9 are LIGHT OFF.
If at least one of the internal and intermediate PWM signals are not at the proper logic level or at
least one of the related components are NOT correctly working, one or both the Diagnostic LEDs
“System OK” L8 and L9 are LIGHT OFF.
Step nr3
Drive is working again with motor torque applied to motor.
This condition is obtained by energizing again the STO input signal opened during Step nr2
(ENABLE-A) and transmission of PWM commands from Microcontroller to the IGBT Drivers.
WARNING:
Speed and torque applied during this step need to be compliant with acceptable working
conditions of the application in which the drive is installed.
Step nr3
partial
result
No Test Result required: this condition is based on FW code and for this Diagnostic Test we
need to use only HW components. Same as Step nr1.
Step nr4
Activation of STO function, so no motor torque is applied to motor.
This condition is obtained by de-energizing the other STO input signal (ENABLE-B).
Step nr4
partial
result
Test Result PASS: Diagnostic LEDs “System OK” L8 and L9 are LIGHT ON.
Same as Step nr2.
Test Result FAIL: Diagnostic LEDs “System OK” L8 and/or L9 are LIGHT OFF.
Same as Step nr2.
For all steps we need to have Test Result PASS.
Measure to adopt in case of Test Result FAIL:
Board ES927 board is damaged It is mandatory to replace the drive or the board with a new one.

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IRIS BLUE
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DT02 Periodic Proof-test (Diagnostic LED “PWM Enable” L2)
Based on hardware components and firmware code.
Performed with a specified sequence of 4 steps.
Checked by visual inspection of Diagnostic LED “PWM Enable” L2.
Proof-test Interval: one year.
NOTE
This proof-test circuit is integrated in ES927 board to prevent the presence
of dormant failures.
A hardware proof-test circuit based on redundant logic gates reads the dedicated Enable commands for
the PWM signal buffers inserted in the two channels of the STO function circuit.
The Enable command of the PWM signal buffers are conditioned also by the status of the drive firmware
code. The firmware code has the limited action capability to disable the buffer Enable commands, but not
to re-enable them if the STO function is active.
The coordination with firmware code is therefore needed for the completion of next Steps nr1 and nr3
requiring the transmission of PWM commands from Microcontroller to the IGBT Drivers.

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The proof-test is to be performed in 4 steps:
Step nr1
Drive is working with motor torque applied to motor.
This condition is obtained by energizing both STO input signals (ENABLE-A and ENABLE-B)
and by the transmission of PWM commands from Microcontroller to the IGBT Drivers.
WARNING:
Speed and torque applied during this step need to be compliant with acceptable working
conditions of the application where the drive is installed.
Step nr1
partial
result
Test Result PASS: Diagnostic LED “PWM Enable” L2 is LIGHT ON.
If all buffer enable signals are at the right logic level and all related components are correctly
working, then the Diagnostic LED “PWM Enable” L2 is LIGHT ON.
Test Result FAIL: Diagnostic LED “PWM Enable” L2 is LIGHT OFF.
If at least one buffer enable signals is not at the right logic level or at least one of the related
components are NOT correctly working, then the Diagnostic LED “PWM Enable” L2 is LIGHT
OFF.
Step nr2
Activation of the STO function, so no motor torque is applied to motor.
This condition is obtained by de-energizing only one of the STO input signals (ENABLE-A).
Step nr2
partial
result
Test Result PASS: Diagnostic LED “PWM Enable” L2 is LIGHT OFF.
If the buffer Enable signal logic level configuration is correct and all related components are
correctly working, then the Diagnostic LED “PWM Enable” L2 is LIGHT OFF.
Test Result FAIL: Diagnostic LED “PWM Enable” L2 is LIGHT ON.
If the buffer Enable signal logic level configuration is not correct or at least one of the related
components are NOT correctly working, then the Diagnostic LED “PWM Enable” L2 remain
LIGHT ON.
Step nr3
Drive is working again with motor torque applied to motor.
This condition is obtained by energizing again the STO input signal opened during Step nr2
(ENABLE-A) and transmission of PWM commands from Microcontroller to the IGBT Drivers.
WARNING:
Speed and torque applied during this step need to be compliant with acceptable working
conditions of the application where the drive is installed.
Step nr3
partial
result
Test Result PASS: Diagnostic LED “PWM Enable” L2 is LIGHT ON.
Same as Step nr1.
Test Result FAIL: Diagnostic LED “PWM Enable” L2 is LIGHT OFF.
Same as Step nr1.
Step nr4
Activation of STO function, so no motor torque is applied to motor.
This condition is obtained by de-energizing the other STO input signal (ENABLE-B).
Step nr4
partial
result
Test Result PASS: Diagnostic LED “PWM Enable” L2 is LIGHT OFF.
Same as Step nr2.
Test Result FAIL: Diagnostic LED “PWM Enable” L2 is LIGHT ON.
Same as Step nr2.
For all steps, the Test Result must be PASS.
Measure to adopt in case of Test Result FAIL:
Board ES927 is damaged It is mandatory to replace the board with a new one.

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5. VALIDATING THE OPERATION OF A SAFETY FUNCTION
Safety Standards EN IEC 62061 and EN ISO 13849 require that the final assembler of the machine
validates the operation of the safety function with an acceptance test.
The acceptance tests must be performed:
At initial start-up (commissioning) of the safety function or installation of a new drive unit in place of an
existing one,
At each periodic annual test of the safety function,
After any changes (wiring, components, settings, etc.) related to the safety function,
After any changes related to the CPU CONTROL BOARD ES927 of the drive,
After any maintenance activity related to the safety function,
After any Test Result FAIL during the STO acceptance test procedure and subsequent decommissioning
of ES927 damaged board and replacement with a new one.
5.1. Acceptance Test Reports
Signed acceptance test reports must be stored into the Instruction’s Manual of the machine. The report
shall include documentation of start-up activities and test results, references to failure reports and
resolution of failures. Any new acceptance tests performed due to periodic annual test (once a year),
changes, maintenance and decommissioning shall be logged into the Instruction’s Manual of the machine.
Section 5.3 Performing the Acceptance Test includes the template of the Check List for ‘STO Acceptance
Test’, as a guide for a test report.
5.2. Authorized Person
The acceptance test of the safety function must be carried out by an authorized person having adequate
expertise and knowledge of the safety function. The test must be documented and signed by the
authorized person.
5.3. Performing the Acceptance Test
The drive is working with motor torque applied to motor during the acceptance test.
The following template shall be included in the Instruction’s Manual of the machine incorporating the motor
drive.
WARNING
Speed and torque applied during the acceptance test need to be compliant
with acceptable working conditions of the application where the drive is
installed.
WARNING
The Safe Torque Off function does not cut off the mains voltage and auxiliary
circuits from the drive. Therefore, maintenance work on electrical parts of the
drive or the motor can only be carried out after isolating the drive system from
the mains supply.
NOTE
The Safe Torque Off function can be used for stopping the drive in emergency
stop situations. In the normal operating mode, it is not recommended to stop
the drive by using the Safe Torque Off function. If a running drive is stopped
by using the Safe Torque Off function, the drive will trip and stop by coasting.
If this is not acceptable, e.g. causes danger, the drive and machinery must be
stopped using the appropriate stopping mode before using this function.
NOTE
Note concerning permanent magnet motor drives in case of multiple
IGBT power semiconductor failure:
Due to the possible DC output voltage present for certain multiple IGBT
failures, in spite of the activation of the Safe Torque Off function, the drive
system can produce an alignment torque which maximally rotates the motor
shaft by 180/p degrees (p is the pole pair number).