294 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021
Chapter 9 Kinetix 5700 Safe Torque-off Function
Troubleshoot the Safe Torque-off Function
Figure 135 illustrates when the safe torque-off mismatch is detected and
GuardStopInputFault is posted.
Figure 135 - System Operation in the Event of STO Inputs Discrepancy (fault case 1)
When one safety input is turned off, the second input must also be turned off,
otherwise a fault is asserted (see Figure 136
). The fault is asserted even if the
first safety input is turned on again, without the second input transitioning to
the ON state.
For Kinetix 5700 fault code descriptions and possible solutions, see
Kinetix 5700 Servo Drive Fault Codes, publication 2198-RD003
; download the
spreadsheet for offline access.
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IMPORTANT
If both STO inputs are not in the OFF state simultaneously within 100 ms
or after 1 second, then GuardStopInputFault is posted.
24V DC
24V DC
0V DC
0V DC
0
1
0
1
0
1
0
1
0
1
0
1
0
1
No Fault
Start Inhibited
1 Second Discrepancy Limit
OK
Faulted
Not OK
Torque Disabled
Stop Requested
Faulted
No Fault
GuardStopRequestStatus
SS_IN_CH0
SS_IN_CH1
GuardStopInputStatus
GuardGateDriveOutputStatus
GuardOkStatus
GuardFault
SafeTorqueOffInhibit
GuardStopInputFault
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