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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 - System Operation when Inputs are Meeting Timing Requirements
24V DC
SAFETY ENABLE1+
0V DC
24V DC
SAFETY ENABLE2+
0V DC
1
DriveHardFault
0
1
SafeOffModeActiveStatus
0
Item
Description
At least one input is switched-off. SafeOffModeActiveStatus bit is set to 1.
Second input is switched-off within 1 second.
First input is switched-on.
Second input is switched-on within 1 second of the first input.
Both inputs change state within 1 second, therefore DriveHardFault is not posted.
SafeOffModeActiveStatus bit set back to 0 if events 3 and 4 occur within a 1 second time interval.
Troubleshooting the Safe Torque-off Function
Error
Fault Message
Code
RSLogix (HIM)
E49
DriveHardFault
(safe torque-off HW Flt)
Rockwell Automation Publication 2094-UM003A-EN-P - May 2012
Using the Safe Torque-off Feature with the Kinetix 6000M System
Figure
39). The safety fault occurs after 1 second.
1 Second
Anomaly
Potential Cause
Safe torque-off
• Loose wiring at safe
function mismatch.
torque-off connector.
System will not allow
• Miswiring of the safe
motion. Safe torque-off
torque-off connector.
mismatch is detected
• Cable/header not
when safety inputs are
seated properly in safe
in a different state for
torque-off connector.
more than 1 second.
• Safe torque-off circuit
missing +24V DC.
Appendix A
1 Second
Possible Resolution
• Verify wire
terminations, cable/
header connections,
and +24V.
• Reset error and run
proof test.
• If error persists, return
the module to
Rockwell Automation.
105
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