Rockwell Automation Publication 2198-UM002E-EN-P - February 2018
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Kinetix 5700 Safe Torque-off Function
Chapter 9
Figure 104 - System Operation when Inputs are Meeting Timing Requirements
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. Both inputs must be de-energized
within 1 second and re-energized within 1 second to avoid
GuardStopInputFault conditions.
Safety Input S1
1
2
3 4
5
6
Safety Input S2
GuardFault
No Fault
SafeTorqueOffInhibit
Start Permit
GuardOKStatus
GuardGateDriveOutputStatus
Torque Permited
Permit Torque
Torque Permited
GuardStopInputStatus
GuardStopRequestsStatus
GuardStopInputFault
No Fault
1 Second Debounce Time
1 Second Descrepancy Limit
Start Inhibit
OK
Torque Disabled
Disable Torque
Torque Disabled
Event
Description
1
At least one input is switched-off. The GuardStopRequestStatus bit is set to 1.
2
Second input is switched-off within 1 second. This event must always occur within 1 second to prevent a
GuardStorpInputFault condition.
3
First input is switched-on.
4
Second input is switched-on within 1 second of event 3.
5
Both inputs are in the ON state simultaneously within 1 second. As a result, GuardStopInputFault is not
posted.
6
The GuardStopRequestStatus bit sets back to 0 if event 4 occurs within a 100 ms interval after event 3. If
event 4 is outside of the 100 ms interval, but within the a 1 second interval after event 3, then the
GuardStop RequestStatus bit sets back to 0 after the 1 second interval following event 3 (not
immediately following event 4).