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20 Rockwell Automation Publication 2094-RM002B-EN-P - May 2012

Chapter 3 Safe Torque-off I/O Signals

Figure 5 - Cycle Inputs Required

An Input fault occurs if the inputs are discrepant for longer than one second.

For SS_IN_CH0/1, use TEST_OUT_0/1 as a reference signal, or a fault occurs.

For more information on I/O faults, refer to Troubleshooting the Safe Torque-off

Drive on page 33.

Discrepancy Time

The maximum discrepancy time between two inputs is 1.0 second. If both inputs

do not change within 1.0 second, an input fault is displayed, the safety circuit is

activated, and torque is removed from the motor.

Figure 6 - Discrepancy Time

Behavior of reset and safe-off inputs while transitioning from Safe_Off state to

Safe_Monitor state.

Channel 0

Active

Inactive

Channel 1

Active

Inactive

Evaluated Status

OFF

Cycle Inputs Required

SS_IN_CH0 or

SS_IN_CH2

SS_IN_CH1 or

SS_IN_CH3

Gate Power

and Gate Enable

RESET_IN

Fault

(max) = 20 ms

plus Debounce Filter Delay

(if applicable).

Safe-off inputs return to

inactive state before Gate

Power can be restored.

Input Discrepancy

Time (1.0 s)

Latch Input Error

Time (1.0 s)

1 2 ... 15 16 17 18 19 20 21 22 23 24 25 ... 41 42

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