Rockwell Automation MDF-SB1304F Kinetix 6000M Integrated Drive-Motor System - Manual (Page 106)

106 Rockwell Automation Publication 2094-UM003A-EN-P - May 2012
Appendix A Using the Safe Torque-off Feature with the Kinetix 6000M System
Figure 40 demonstrates when the safe torque-off mismatch is detected and a
DriveHardFault is posted.
Figure 40 - System Operation in the Event that the Safety Enable Inputs Mismatch
When one safety input is turned off, the second input must also be turned off,
otherwise a fault is asserted (see
Figure 41 ). The fault is asserted even if the first
safety input is turned on again.
Figure 41 - System Operation in the Event that the Safety Enable Inputs Mismatch Momentarily
ATTENTION: The safe torque-off fault (E49) is detected upon demand of the
safe torque-off function. After troubleshooting, a safety function must be
executed to verify correct operation.
IMPORTANT The Safe Torque Off fault (E49) can be reset only if both inputs are in the Off-
state for more than 1 second. After the E49 reset requirement is satisfied, an
MASR command in RSLogix software should be issued to reset the
DriveHardFault.
SAFETY ENABLE1+
24V DC
24V DC
0V DC
0V DC
1
1
0
0
SAFETY ENABLE2+
DriveHardFault
SafeOffModeActiveStatus
1 Second
SAFETY ENABLE1+
24V DC
24V DC
0V DC
0V DC
1
1
0
0
SAFETY ENABLE2+
DriveHardFault
SafeOffModeActiveStatus
1 Second