Rockwell Automation Publication 2198-UM001I-EN-P - May 2019 187
Kinetix 5500 Safe Torque-off - Integrated Safety Chapter 10
Logix Designer Application Warning Messages
When the controller is in Run mode, executing safety functions, the
2198-Hxxx-ERS2 drive follows the commands that it receives from the safety
controller. Safety state = Running, Axis state = Stopped/Running, as shown in
Figure 81
.
Figure 81 - Safety State Indications When Controller is in Run Mode (safety task executing)
When the controller transitions to Program mode, the integrated safety drive is
in the safe state (torque not permitted). Safety state = Not Running, Axis state
= Start Inhibited, as shown in Figure 82
).
Figure 82 - Safety State Indications After Controller Transitions to Program Mode
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