Rockwell Automation Allen-Bradley Kinetix 5700 - Safe Torque-Off Status

Rockwell Automation Publication 2198-UM002L-EN-P - October 2021 289
Chapter 9 Kinetix 5700 Safe Torque-off Function
Safe Torque-off Status
This section describes the safety related status data that is available to the
motion controller.
When a Kinetix 5700 add on profile (AOP) is added to a Logix Designer
application I/O tree, axis tags are added to the controller tags.
This table lists the safety related STANDARD tags that are added when a new
AXIS_CIP_DRIVE axis is defined.
IMPORTANT
The status data described in this section is STANDARD data (not
SAFETY data) and cannot be used as part of a safety function.
Table 156 - Safety Related Axis Tags
Logix Designer Tag Name Attribute [bit] Type Description
AxisFaults 34 DINT
GuardFaultStatus [5] BOOL STO fault - Hardwired
SafetyFaultStatus [8] BOOL STO fault - Integrated
ModuleFaults 163 DINT
GuardStatus 980 DINT
GuardOKStatus [0] BOOL Not STO fault - Hardwired
GuardGateDriveOutputStatus [2] BOOL Torque allowed - Hardwired
GuardStopInputStatus [3] BOOL Safety inputs active - Hardwired
GuardStopRequestStatus [4] BOOL Safety input requesting STO - Hardwired
GuardFault 981 DINT
GuardStopInputFault [9] BOOL STO fault - Hardwired
GuardGateDriveFault [2] BOOL Internal STO circuit fault - Hardwired
CIPAxisFaultsRA 903 DINT
SafetyModuleCommunicationErrorFault [28] BOOL Loss of communication to safety control
CIPAxisAlarmsRA 904 DINT
SafetyModuleCommunicationErrorAlarm [28] BOOL Loss of communication to safety control
CIPInitializationFaultsRA 910 DINT
InvalidSafetyFirmwareFault [14] BOOL Invalid safety control firmware
CIPStartInhibits 676 DINT
SafeTorqueOffActiveInhibit [5] BOOL Torque disabled - Integrated
CIPStartInhibitsRA 912 DINT
SafeTorqueOffInhibit [5] BOOL Torque disabled - Hardwired
AxisSafetyState 760 DINT Safety supervisor state
AxisSafetyStatus
(1)
761 DINT
SafetyFaultStatus [0] BOOL Status of SI.SafetyFault
SafetyResetRequestStatus [1] BOOL Status of SO.Reset or SO.ResetRequest
SafetyResetRequiredStatus [2] BOOL Status of SI.ResetRequired
SafeTorqueOffActiveStatus [3] BOOL Status of SO.SafeTorqueOff or SO.STOOutput
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.