422 Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Action Source is set to Connected Drive, this value determines the stopping
method to apply to the motor. Each Safe Torque Off Action enumeration initiates
one of two defined Stopping Sequences, Category 0 Stop, or Category 1 Stop. The
definition for each enumeration will follow the same enumerations defined for the
Stopping Action attribute.
Category 1 Stop enumerations of Current Decel & Disable or Ramped Decel &
Disable are often used in conjunction with a configured delay (for example, STO
to Safe Brake Control (SBC) Delay or STO Delay) between the STO Active
condition and Safe Torque Disabled to allow the drive to bring the motor to a
controlled stop and engage a brake prior to disabling the power structure. This
capability is particularly important for vertical load applications.
The final state after the Stopping Sequence is applied is the Start Inhibited state
or, in the case of a Safety Fault initiated STO activation, the Major Faulted state.
In either final state the device's inverter power structure will be disabled,
ultimately with safety integrity as enforced by the Safety Core's STO safety
function.
Safe Torque Off Action Source
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - D
Safety Only
Set/
SSV#
USINT 0 - - Enumeration:
0 = Connected Drive (R)
1 = Running Controller (O)
2-127 = (reserved)
128-255 = (vendor specific)
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
The Safe Torque Off Action Source attribute determines whether the drive or the
controller initiates the stopping sequence in response a STO Active condition in
the Axis Safety Status attribute that was not initiated by an SS1 or Safe Stop 2
(SS2) Active condition.
When configured for Connected Drive (default), the drive will initiate the
stopping sequence according to the selected Safe Torque Off Action. However,
the drive must have an open connection to the controller for the configured
stopping action to occur. If the drive is not connected, the drive would have
already initiated the configured Connection Loss Stopping Action.
When configured for Running Controller, the stopping sequence is initiated by
the connected controller as long as the controller connection's "Run/Idle" bit in
the Real Time (RT) Header is indicating Run Mode. This allows the controller to
provide a programmed stopping action. If the controller is in Idle Mode, i.e. not
actively running the application program, the connected drive will initiate the
stopping sequence according to the configured Safe Torque Off Action. This
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