CIP Axis Attributes
Chapter 4
Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
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The Axis Safety Status attribute is a collection of bits indicating the status of the
standard safety functions for the axis as reported by the embedded Safety Core of
the device. The Axis Safety Status word is a concatenation of two 16-bit safety
status attributes. The lower 16-bits are the current Safety Stop Status attribute
value of the Safety Stop Functions object associated with this axis instance. The
upper 16-bits are the current Safety Limit Status attribute value of the Safety
Limit Functions object associated with this axis instance with the exception of the
two most significant bits that are masked off to accommodate two Safety Output
Connection status bits. Specifically, the Safety Output Connection Closed bit,
when set, indicates that the Safety Output Connection has either not been opened
or has been closed. The Safety Output Connection Idle bit, when set, indicates
that the Safety Output Connection's Run/Idle bit has been set to Idle.
For Rockwell Automation safety drive devices, the safety status data from the
drive's Safety Core may include safety status from the Safety Controller through
the Pass Thru data included in the Safety Output assembly. This allows the Axis
Safety Status attribute to reflect safety function status conditions regardless of
where the safety function is executed, be it in the Safety Controller, or the drive's
Safety Core.
Axis Safety Status - RA
Usage
Access
T Data Type Default
Min Max
Semantics of Values
Optional - DE
Safety only
Get/GSV
T DWORD
-
-
-
Bitmap:
0 = Safe Brake Integrity
1 = Safe Feedback Homed
2...31 = (reserved)
The Axis Safety Status - RA attribute is a collection of bits indicating the status of
the Rockwell Automation specific safety functions for the axis as reported by the
embedded Safety Core of the device. For Rockwell Automation safety drive
devices, the safety status data from the drive's Safety Core may include safety status
from the Safety Controller through the Pass Thru data included in the Safety
Output assembly. This allows the Axis Safety Status RA attribute to reflect safety
function status conditions regardless of where the safety function is executed, be it
in the Safety Controller, or the drive's Safety Core.