Chapter 4
CIP Axis Attributes
416
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Axis Safety State
Usage
Access
T
Data
Type
Default
Min Max
Semantics of Values
Optional - DE
Safety only
Get/GSV
T
UINT
-
-
-
Enumeration:
0 = Unknown (No Motion
Connection)
1 = Self-Testing
2 = Configured (No Safety
Connection)
3 = Self-Test Exception
4 = Running
5 = Recoverable Fault
6 = Unrecoverable Fault
7 = Configuring
8 = Not Configured
9-50 = Reserved by CIP
51 = Not Configured (Torque
Permitted)
52 = Running (Torque
Permitted)
53-99 = Device Specific
100-255 = Vendor Specific
The Axis Safety State attribute is an 8-bit enumerated value that indicates the state
of the associated Safety Supervisor object of the device as it applies to this axis
instance. There is only one Safety Supervisor object servicing the CIP Motion
device so its state generally applies to all applicable Axis instances of the device.
This means that all instances of this object generally have the same state for this
attribute.
The two exceptions to this general state behavior are the Waiting for TUNID
with Torque Permitted (state=51) and Executing with Torque Permitted
(state=8) states that have axis specific qualification. When the Safety Supervisor
State is Waiting for TUNID with Torque Permitted, if the Axis Safety Status bit,
Safe Torque Disabled, is set, the Axis Safety State is set to Waiting for TUNID.
When the Safety Supervisor State is Executing with Torque Permitted, if the Axis
Safety Status bit, Safe Torque Disabled, is set, the Axis Safety State is Executing.
Axis Safety State Bit Descriptions
Bit
Safety
Supervisor State
Description
0 = Undefined/Unknown (No
MotionConnection)
Undefined
No motion connection has been opened to the drive. Actual
safety state is unknown.
1 = Self-Testing
Self-Testing
The safety function of drive has been initialized; all
attributes given appropriate defaults and safety faults have
been reset.
Device is performing tests to determine if it is qualified to
execute its safety function.