Rockwell Automation Publication 2198-UM001D-EN-P - May 2014 159
Kinetix 5500 Safe Torque-off - Hardwired Safety Chapter 9
Figure 66 - System Operation when Inputs are Meeting Timing Requirements
Troubleshoot the Safe Torque-off Function
Table 73 - 2198-Hxxx-ERS Servo Drive Troubleshooting
ATTENTION: If any of the safety enable inputs de-energize, the Start Inhibit
field indicates SafeTorqueOffInhibit and GuardStopRequestStatus bit of
AxisGuardStatus tag set to 1. Both inputs must be de-energized within 1 second
and re-energized within 1 second to avoid GuardStopInputFault conditions.
24V DC
24V DC
0V DC
0V DC
1
1
0
0
100 ms
1 Second
1
23 4
5
6
GuardStopRequestStatus
GuardStopInputFault
SS_IN_CH0
SS_IN_CH1
Event Description
1 At least one input is switched-off. GuardStopRequestStatus bit is set to 1.
2
Second input is switched-off within 1 second. This event must always occur prior to Event 3 to prevent
GuardStopInputFault.
3 First input is switched-on.
4 Second input is switched-on within 1 second of event 3.
5 Both inputs are in OFF state simultaneously within 1 second. As a result, GuardStopInputFault is not posted.
6
GuardStopRequestStatus bit sets back to 0 if event 4 occurred within 100 ms interval after event 3. If event 4
is outside of the 100 ms interval and within the 1 second (event 3) interval, then GuardStop RequestStatus
bit sets back to 0 after the 1 second interval following event 3.
Exception Code on Drive Display
Fault Message
Logix Designer
Problem Possible Solutions
SAFE FLT 09 - SS IN GuardStopInputFault
Safe torque-off function
mismatch. System does not
allow motion. Safe torque-
off mismatch is detected
when safety inputs are in a
different state for more
than 1.0 second.
• Verify safety wiring and connections:
– Wire terminations at safe torque-
off (STO) connector
– Cable/header not seated correctly
– +24V power
• Check state of safety inputs.
• Reset error and run proof test.
• If error persists, return the drive to
Rockwell Automation.
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