Rockwell Automation Publication 2198-UM002L-EN-P - October 2021 313
Chapter 9 Kinetix 5700 Safe Torque-off Function
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 153
.
Figure 153 - 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 154
. 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 153 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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