Out Of Box State - Allen-Bradley Kinetix 5700 User Manual

Chapter 9 Kinetix 5700 Safe Torque-off Function
308
ATTENTION: Personnel responsible for the application of safety-related
programmable electronic systems (PES) shall be aware of the safety
requirements in the application of the system and shall be trained in using
the system.

Out of Box State

Kinetix 5700 servo drives are capable of safe torque-off (STO) functionality in
Hardwired STO mode or Integrated STO mode. Out of the box, the
Kinetix 5700 servo drives are in Hardwired STO mode, which means they are
ready for hardwired connections to the safety (STO) connector. To bypass the
hardwired safety function, jumper wires must be installed in the STO
connector.
IMPORTANT Out of the box, Kinetix 5700 servo drives are in Hardwired STO mode.
IMPORTANT To bypass the STO feature while commissioning or testing the drive, the
drive must be configured for Hardwired STO mode. Refer to
off Feature Bypass
Out of the box, you can use Kinetix 5700 servo drives in Integrated STO mode
only after a Motion and Safety or Safety-only connection has been established
at least once in the Logix Designer application.
How to Recognize Hardwired STO Mode
You can read the safety control state from the axis tag AxisSafetyState, or by
using an MSG command in the Logix Designer application to read the Safety
Supervisor status.
In Hardwired STO mode, if STO inputs are OFF then Safety Supervisor state
is Not Configured (8) and if STO inputs are ON then Safety Supervisor state
is Not Configured, torque permitted (51).
Table 150 - Safety Supervisor States
Value Safety Supervisor State
2 Configured (no safety connection)
4 Running
7 Configuring
8 Not Configured
51 Not Configured (torque permitted)
52 Running (torque permitted)
Rockwell Automation Publication 2198-UM002G-EN-P - February 2019
on page 321 for a wiring example.
Definition Safety Mode
No active connections Integrated
Normal running state Integrated
Transition state Integrated
Hardwired STO mode with
Hardwired (out of the box)
torque disabled
Hardwired STO mode with
Hardwired (out of the box)
torque permitted
STO bypass state Integrated
Safe Torque-