Explicit Messages - Allen-Bradley Kinetix 5700 User Manual

Chapter 9 Kinetix 5700 Safe Torque-off Function
Table 151 - Safety Related Axis Tags (continued)
Logix Designer Tag Name
SafeTorqueOffDisableStatus
SafetyOutputConnectionClosed
SafetyOutputConnectionIdleStatus
AxisSafetyFaults
SafetyCoreFault
SafetyTorqueOffFault
(1) Bits not shown are always zero.
312
Attribute [bit] Type
[4] BOOL
[30] BOOL
[31] BOOL
763 DINT
[1] BOOL
[3] BOOL

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.
Table 152 - Safety Supervisor State: MSG
Parameter Value
Service Code 0x0E
Class 0x39
Instance 1
Attribute 0x0B
Data Type SINT
Table 153 - 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
Description
Status of SI.TorqueDisabled
1 if all output connections are closed
1 if safety controller is in program mode
Loss of communications to safety control
Status of SI.SafetyFault
Description
Get attribute single
Safety supervisor
Device status
Short integer
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