Rockwell Automation 2198-Hxxx Kinetix 5500 Servo Drives User Manual - Manual (Page 183)

Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 183
Kinetix 5500 Safe Torque-off - Integrated Safety Chapter 10
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 77 .
Figure 77 - STO Bypass Prompt When the Safety Controller is in Program Mode
The warning in Figure 77 is displayed the first time a motion direct command is
issued.
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 78 . Safety state = Not Running (torque permitted), Axis state = Stopped/
Running, Persistent Warning = Safe Torque Off Bypassed.
Figure 78 - Safety State Indications After Controller Transitions to Program Mode
(MDC executing)
IMPORTANT Switch the controller to Run mode to exit Motion Direct Command mode
with STO function bypassed.