Rockwell Automation Allen-Bradley Kinetix 5500 Series - Troubleshoot the Safe Torque-Off Function

170 Rockwell Automation Publication 2198-UM001D-EN-P - May 2014
Chapter 10 Kinetix 5500 Safe Torque-off - Integrated Safety
Refer to Figure 73 for an understanding of the 2198-Hxxx-ERS2 STO state
restart functionality.
Figure 73 - Kinetix 5500 STO Timing Diagram
Troubleshoot the Safe Torque-off Function
Table 78 - 2198-Hxxx-ERS2 Servo Drive Troubleshooting
IMPORTANT
2198-Hxxx-ERS2 servo drives enter the STO state if any STO function fault is
detected. Refer to Table 78
for integrated safety troubleshooting.
Drv:SO.SafeTorqueO
Drv:SO.Reset
Drv:SI.ResetRequired
Drv:SI.TorqueDisabled
Axis.SafeTorqueOActiveStatus
Axis.SafeTorqueOActiveInhibit
Axis.SafeTorqueDisabledStatus
Safe Torque-o Request
Axis.SafetyResetRequestStatus
Axis.SafetyResetRequiredStatus
Reset Request
Exception Code on Drive Display
Fault Message
Logix Designer
Problem Possible Solutions
SAFE FLT S01- Safety Core Internal CPUWatchdogFault
(1)
Drive safety diagnostic detected internal
STO design failure.
• Cycle control power
• Return drive for repair if fault continues
SAFE FLT S03- Safe Torque Off SafeTorqueOffFault
(2)
Drive safety diagnostic detected internal
STO design failure.
• Cycle control power
• Execute STO function
• Return drive for repair if fault continues
(1) Displayed in the Quick View Pane as Module Fault.
(2) Displayed in the Quick View Pane as Safety Fault.