Reference Manual

12 Rockwell Automation Publication GMC-RM002F-EN-P - June 2013
Chapter 1 Safety Concept and Troubleshooting
PFD and PFH Data
These PFD and PFH calculations are based on the equations from IEC 61508
and show worst-case values. Ta ble 1
provides test data and demonstrates the
worst-case effect of various configuration changes on the data.
Table 1 - PFD and PFH Proof Test Interval
Determination of safety parameters is based on the assumption that the system
operates in High Demand mode and that the safety function is requested at least
once a year.
PFH and PFD determination was performed without considering external wiring
failure modes, as described in EN ISO 13849-2. Depending on the application,
consider taking measures to exclude these failure modes.
To proof test the safe torque-off function, you must interrupt power to the safe
torque-off function inputs (STO-5 and STO-7) and verify the drive is in the
disabled state. Refer to the Safe Torque-off Connector Pinout on page 15
, for
signal descriptions and pinouts.
Troubleshooting
The safe-off fault (E49) is detected upon demand of the safe-off function.
Table 2 - Kinetix 6000 and Kinetix 7000 Safe Torque-off Troubleshooting
Attribute Kinetix 6000 Drives Kinetix 7000 Drives
PFH 0.26 (e-9) 0.38 (e-9)
PFD 0.045 (e-3) 0.027 (e-3)
Proof test interval (years) 20 15
Error
Code
Fault Message RSLogix
(HIM)
Problem or Symptom Potential Cause Possible Resolution
E49
DriveHardFault
(Safe-off HW Flt)
Safe-off function mismatch.
Drive will not allow motion.
· Loose wiring at safe torque-off (STO) connector.
· Cable/header not seated properly in safe
torque-off (STO) connector.
· Safe-off circuit missing +24V DC.
· Verify wire terminations, cable/header
connections, and +24V.
· Reset error and run proof test.
· If error persists, return the drive to Rockwell
Automation.
ATTENTION: After troubleshooting, a proof test must be performed to verify
correct operation.