Rockwell Automation Publication 750-UM002H-EN-P - February 2017 31
Safe Torque Off Option Module Operation Chapter 3
Figure 6 - Stop Category 0
Table 7 - Guardmaster DI Example Summary
SP+
SE+
Sd
SP–
SE–
Sd
A1
A2
S11
S21
24V DC
0V DC COM
Gray
Pink
24V DC
DI
L12
L11
Y32
S34
S12
S22
S32
S42
13
14
23
24
0
1
2
3
4
56
7
8
LOGIC
AC Line
Input Power
Motor
24V DC COM
START
STOP
PowerFlex 750-Series
Drive
Gate Control
Jumpers:
ENABLE Installed
SAFETY Removed
START/STOP COM
SensaGuard™
Interlock Switch
Guardmaster
440R-D22R2
Dual-input Safety Relay
Aux
(PAC)
Aux
(PAC)
Reset
Attribute Description
Circuit status
Circuit is shown with guard door closed and system ready for normal drive
operation.
Operating principle
This is a dual-channel system with monitoring of the Safe Torque Off circuit and
drive. Opening the guard door switches the input circuits (S12 and S22) to the
Guardmaster monitoring safety relay. The output circuits (13, 14 and 23, 24) cause
the safety option module and drive Enable circuit to trip and the motor coast to
stop. To restart the drive, the Guardmaster safety relay must first be reset followed
by a valid start command to the drive.
Fault detection
A single fault detected on the Guardmaster safety input circuits results in the lock-
out of the system at the next operation and does not cause loss of the safety
function.
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