Rockwell Automation Allen-Bradley Kinetix 5700 - Page 293

Rockwell Automation Publication 2198-UM002L-EN-P - October 2021 293
Chapter 9 Kinetix 5700 Safe Torque-off Function
Figure 134 - Normal System Operation
1
23
4
5
6
24V DC
24V DC
0V DC
0V DC
0
1
0
1
0
1
0
1
0
1
0
1
0
1
GuardStopRequestStatus
SS_IN_CH0
SS_IN_CH1
GuardStopInputStatus
GuardGateDriveOutputStatus
GuardOkStatus
GuardFault
SafeTorqueOffInhibit
GuardStopInputFault
No Fault
Start Inhibit
1 Second Discrepancy Limit
1 Second Debounce Time
OK
Start Permit
Torque Permitted
Permit Torque
Torque Permitted
Torque Disabled
Disable Torque
Torque Disabled
No Fault
Event
Table 164 - Normal System Operation Legend
Event Description
1 At least one input is switched-off. The GuardStopRequestStatus bit is set to 1.
2
Second input is switched off. If both STO inputs are not in the OFF state simultaneously within 100 ms
or after 1 second, then GuardStopInputFault is posted.
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).