174 Rockwell Automation Publication 2198-UM001M-EN-P - November 2022
Chapter 10 Kinetix 5500 Safe Torque Off - Integrated Safety
Logix Designer Application Warning Messages
When the controller is in Run mode, executing safety functions, the
2198-Hxxx-ERS2 drive follows the commands that it receives from the safety
controller. Safety state = Running, Axis state = Stopped/Running, as shown in
Figure 81
.
Figure 81 - Safety State Indications When Controller is in Run Mode (safety task executing)
When the controller transitions to Program mode, the integrated safety drive
is in the safe state (torque not permitted). Safety state = Not Running, Axis
state = Start Inhibited, as shown in Figure 82).
Figure 82 - Safety State Indications After Controller Transitions to Program Mode
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