Rockwell Automation Allen-Bradley Kinetix 5700 - Page 295

Rockwell Automation Publication 2198-UM002L-EN-P - October 2021 295
Chapter 9 Kinetix 5700 Safe Torque-off Function
Figure 136 - System Operation in the Event of STO Inputs Discrepancy (fault case 2)
Figure 137 - System Operation in the Event of STO Inputs Discrepancy (fault case 3)
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 Inhibited
1 Second Discrepancy Limit
OK
Faulted
Not OK
Torque Disabled
Stop Requested
Faulted
No Fault
24V DC
24V DC
0V DC
0V DC
0
1
0
1
0
1
0
1
0
1
0
1
0
1
100 ms
SS_IN_CH0
SS_IN_CH1
GuardStopRequestStatus
GuardStopInputStatus
GuardGateDriveOutputStatus
GuardOkStatus
GuardFault
SafeTorqueOffInhibit
GuardStopInputFault
1 Second Discrepancy Limit
No Fault
Start Inhibited
OK
Faulted
Not OK
Torque Disabled
Stop Requested
Faulted
No Fault
ATTENTION: The safe torque-off fault is detected upon demand of the safe
torque-off function. After troubleshooting the STO function or performing
maintenance that might affect the STO function, the STO function must be
executed to verify correct operation.