User guide

Rockwell Automation Publication 2094-UM003A-EN-P - May 2012 105
Using the Safe Torque-off Feature with the Kinetix 6000M System Appendix A
Figure 39 - System Operation when Inputs are Meeting Timing Requirements
Troubleshooting the Safe Torque-off Function
ATTENTION: Permanent magnet motors may, in the event of two simultaneous
faults in the IGBT circuit, result in a rotation of up to 180 electrical degrees.
ATTENTION: If any of the safety enable inputs de-energize, then the
SafeOffModeActiveStatus bit of the drive status word in the Axis Tag structure
will be set to 1. It will reset to 0 when both safety enable inputs are energized
within 1 second (see Figure 39
). The safety fault occurs after 1 second.
Item Description
➊ At least one input is switched-off. SafeOffModeActiveStatus bit is set to 1.
➋ Second input is switched-off within 1 second.
➌ First input is switched-on.
➍ Second input is switched-on within 1 second of the first input.
➎ Both inputs change state within 1 second, therefore DriveHardFault is not posted.
➏ SafeOffModeActiveStatus bit set back to 0 if events 3 and 4 occur within a 1 second time interval.
Error
Code
Fault Message
RSLogix (HIM) Anomaly Potential Cause Possible Resolution
E49 DriveHardFault
(safe torque-off HW Flt)
Safe torque-off
function mismatch.
System will not allow
motion. Safe torque-off
mismatch is detected
when safety inputs are
in a different state for
more than 1 second.
• Loose wiring at safe
torque-off connector.
• Miswiring of the safe
torque-off connector.
• Cable/header not
seated properly in safe
torque-off connector.
• Safe torque-off circuit
missing +24V DC.
• Verify wire
terminations, cable/
header connections,
and +24V.
• Reset error and run
proof test.
• If error persists, return
the module to
Rockwell Automation.
SAFETY ENABLE1+
24V DC
24V DC
0V DC
0V DC
1
1
0
0
SAFETY ENABLE2+
DriveHardFault
SafeOModeActiveStatus
1 Second
1 Second
➋➊➏➍➎➌