Rockwell Automation Publication 2198-UM002L-EN-P - October 2021 305
Chapter 9 Kinetix 5700 Safe Torque-off Function
The SO.Command tags are sent from the GuardLogix safety output assembly
to the Kinetix 5700 safety output assembly to control the safe torque-off
function.
The SI.Status tags are sent from the Kinetix 5700 inverter to the GuardLogix
safety input assembly and indicate the Kinetix 5700 safety control status.
The SI.ConnectionStatus tags indicate the safety input connection status.
Table 171
and Table 172 list the safety tags added to the controller tags when a
Kinetix 5700 servo drive is added to a GuardLogix I/O Configuration and the
connection is configured for Motion and Safety or Safety Only.
The attribute values listed are the Assembly Object attribute values.
IMPORTANT
The SO.SafeTorqueOff and SO.ResetRequest tag names change when
Motion Safety in the Module Definition is configured as Safe Stop Only -
No Feedback.
Table 171 - Single-axis Inverter Integrated STO Specifications
Logix Designer Tag Name
Safe Stop Only - No Feedback Tag Names
Studio 5000 Logix Designer
(version 31 and later)
Attribute
[bit]
Type Description
SI.ConnectionStatus
(1)
(2)
DINT
SI.RunMode [0] BOOL
Combinations of the RunMode and
ConnectionFaulted states
SI.ConnectionFault [1] BOOL
SI.Status
(1)
(3)
SINT
SI.TorqueDisabled [0] BOOL
0 = Torque Permitted
1 = Torque Disabled
SI.SafetyFault [6] BOOL 1 = STO fault present
SI.ResetRequired [7] BOOL 1 = Reset is required
SO.Command
(1)
(4)
SINT
SO.SafeTorqueOff SO.STOOutput [0] BOOL
0 = Disable Permit
1 = Permit Torque
SO.Reset SO.ResetRequest [7] BOOL 0 --> 1 = Reset STO fault
(1) Bits not listed are always zero.
(2) ConnectionStatus is determined by the Safety Validator in the GuardLogix controller.
(3) Status is sent from the drive to the controller using integrated safety protocol.
(4) Commands are sent from the controller to the drive using integrated safety protocol.
IMPORTANT
Only the data listed in Table 171 is communicated with SIL 3 integrity.
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