312 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021
Chapter 9 Kinetix 5700 Safe Torque-off Function
Logix Designer Application Warning Messages
When the controller is in Run mode, executing safety functions, the
Kinetix 5700 servo drive follows the commands that it receives from the safety
controller. The controller reports Safety state = Running and Axis state =
Stopped/Running, as shown in Figure 151
.
Figure 151 - Safety State Indications When Controller is in Run Mode (safety task executing)
When the controller transitions to Program mode, the integrated safety drive
is in the safe state (torque is not permitted). The controller reports Safety state
= Not Running and Axis state = Start Inhibited, as shown in Figure 152
).
Figure 152 - Safety State Indications After Controller Transitions to Program Mode
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