Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018 421
where the safety function is executed, be it in the Safety Controller, or the drive's
Safety Core.
Axis Safety Faults - RA
Usage Access T
Data
Type
Default Min Max Semantics of Values
Optional - DE
Safety only
Get/GSV T DWORD - - - Bitmap:
0 = (reserved)
1 = Safety Feedback Interface
(SFX) Fault
2...31 = (reserved)
The Axis Safety Faults - RA attribute is a collection of bits indicating the safety
fault status of the axis associated with Rockwell Automation specific safety
functionality as reported by the embedded Safety Core of the device. When a
safety fault condition occurs, the Safety Core forces the axis into a Safe State and
the corresponding bit is set in the Axis Safety Faults RA attribute. An active safety
fault bit remains latched even if the underlying safety fault condition is cleared by
the Safety Core. A Fault Reset Request to the associated axis clears the safety fault
bits, but the bits immediately set again if the underlying safety fault condition is
still present.
For Rockwell Automation safety drive devices, the safety fault status data from the
drive's Safety Core may include safety faults from the Safety Controller through
the Pass Thru data included in the Safety Output assembly. This allows the Axis
Safety Faults RA attribute to reflect safety function fault conditions regardless of
where the safety function is executed, be it in the Safety Controller, or the drive's
Safety Core.
Safe Torque Off Action
Usage Access T Data
Type
Default Min Max Semantics of Values
Optional - D
Safety Only
Set/
SSV#
USINT FD
1 for C
0 for F
- - Enumeration:
0 = Disable and Coast
1 = Current Decel and Disable
2 = Ramped Decel and
Disable
3-127 = (reserved)
128-255 = (vendor specific)
128 = DC Injection Brake
129 = AC Injection Brake
# Indicates the attribute cannot be set while the tracking command (Tracking Command bit in CIP Axis Status is true).
When the drive detects a Safe Torque Off (STO) Active condition that was not
initiated by a Safe Stop 1 (SS1) Active condition, as reported by the embedded
Safety Core through the Axis Safety Status attribute, and the Safe Torque Off
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