312 Rockwell Automation Publication 2198-UM002G-EN-P - February 2019
Chapter 9 Kinetix 5700 Safe Torque-off Function
Explicit Messages
You can use explicit messages to obtain additional diagnostic information from
the safety controller by using an MSG instruction.
Safety Supervisor State
The safety supervisor state provides information on the state of the integrated
safety connection and the mode of operation. There is only one safety
supervisor object per drive module. Therefore, for dual-axis inverters, the
safety supervisor is the same on both axes.
Table 152 - Safety Supervisor State: MSG
Table 153 - Safety Supervisor States
SafeTorqueOffDisableStatus [4] BOOL Status of SI.TorqueDisabled
SafetyOutputConnectionClosed [30] BOOL 1 if all output connections are closed
SafetyOutputConnectionIdleStatus [31] BOOL 1 if safety controller is in program mode
AxisSafetyFaults 763 DINT
SafetyCoreFault [1] BOOL Loss of communications to safety control
SafetyTorqueOffFault [3] BOOL Status of SI.SafetyFault
(1) Bits not shown are always zero.
Table 151 - Safety Related Axis Tags (continued)
Logix Designer Tag Name Attribute [bit] Type Description
Parameter Value Description
Service Code 0x0E Get attribute single
Class 0x39 Safety supervisor
Instance 1
Attribute 0x0B Device status
Data Type SINT Short integer
Value Safety Supervisor State Definition Safety Mode
2 Configured (no safety connection) No active connections Integrated
4 Running Normal running state Integrated
7 Configuring Transition state Integrated
8Not Configured
Hardwired STO mode with
torque disabled
Hardwired (out of the box)
51 Not Configured (torque permitted)
Hardwired STO mode with
torque permitted
Hardwired (out of the box)
52 Running (torque permitted) STO bypass state Integrated
To Next Page
Loading...
Need help?
General
