Rockwell Automation Publication 2198-UM002G-EN-P - February 2019 335
Kinetix 5700 Safe Torque-off Function Chapter 9
When you issue a motion direct command to an axis to produce torque in
Program mode, for example MSO or MDS, with the safety connection present
to the drive, a warning message is presented before the motion direct command
is executed, as shown in Figure 160
.
Figure 160 - STO Bypass Prompt When the Safety Controller is in Program Mode
After you acknowledge the warning message by clicking Yes, torque is
permitted by the drive and a warning message is indicated in the software as
shown in Figure 161
. The controller reports Safety state = Not Running
(torque permitted), Axis state = Stopped/Running and Persistent Warning =
Safe Torque Off Bypassed.
ATTENTION: Unexpected motion and the possibility of personal injury or
equipment damage exists if a motion direct command is issued for one axis
of any 2198-Dxxx-ERS3 dual-axis inverter. Both (A and B) inverters
associated with the physical drive permit torque after you acknowledge this
warning message by clicking Yes. Make sure that preventive measures are in
place for both axes to maintain the safety integrity of the machine.
IMPORTANT The warning in Figure 160
is displayed only the first time a motion direct
command is issued.
IMPORTANT Switch the controller to Run mode to exit Motion Direct Command mode
and end the STO function bypass.
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