290 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021
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.
Safe Torque-off Mode
You can use the attribute STO Mode to check if the Kinetix 5700 inverter is in
STO Bypass mode.
Table 157 - Safety Supervisor State: MSG
Parameter Value Description
Service Code 0x0E Get attribute single
Class 0x39 Safety supervisor
Instance 1
Attribute 0x0B Device status
Data Type SINT Short integer
Table 158 - Safety Supervisor States
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
8 Not 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
Table 159 - Safe Torque-off Mode: MSG
Parameter Value Description
Service Code 0x0E Get attribute single
Class 0x5A Safety stop functions
Instance 1 or 2 Inverter axis number
Attribute 0x104 STO mode
Data Type SINT Short integer
Table 160 - Safe Torque-off Mode: Values
Value Definition
1 Normal operation
2 STO bypass mode
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