Allen-Bradley Kinetix 5700, User Manual, Page: 264 / 376

264 Rockwell Automation Publication 2198-UM002E-EN-P - February 2018
Chapter 9 Kinetix 5700 Safe Torque-off Function
Table 138 - Dual-axis Inverter Integrated STO Specifications
In this example, the SO.SafeTorqueOff bit permits torque when the bit is high.
Figure 115 - Safe Torque-off Function Safety Logic Example
Logix Designer Tag Name
Attribute
[bit]
Type Description
SI.ConnectionStatus
(1) (2)
(1) Bits not listed are always zero.
(2) ConnectionStatus is determined by the Safety Validator in the GuardLogix controller.
DINT
SI.RunMode [0] BOOL Combinations of the RunMode and
SI.ConnectionFaulted [1] BOOL ConnectionFaulted states
SI.Status1
(1)(3)
(3) The Status is sent from the drive to the controller using integrated safety protocol.
0x1A8 SINT Inverter Axis 1
SI.TorqueDisabled1 [0] BOOL 0 = Torque Permitted; 1 = Torque Disabled
SI.SafetyFault1 [6] BOOL 1 = STO Fault present
SI.ResetRequired1 [7] BOOL 1 = A reset is required
SI.Status2
(1) (3)
SINT Inverter Axis 2
SI.TorqueDisabled2 [0] BOOL 0 = Torque Permitted; 1 = Torque Disabled
SI.SafetyFault2 [6] BOOL 1 = STO Fault present
SI.ResetRequired2 [7] BOOL 1 = A reset is required
SO.Command1
(1) (4)
(4) The Command is sent from the controller to the drive using integrated safety protocol.
0x188 SINT Inverter Axis 1
SO.SafeTorqueOff1 [0] BOOL 0 = Disable Permit; 1 = Permit Torque
SO.Reset1 [7] BOOL 0-->1 = Reset STO Fault
SO.Command2
(1) (4)
SINT Inverter Axis 2
SO.SafeTorqueOff2 [0] BOOL 0 = Disable Permit; 1 = Permit Torque
SO.Reset2 [7] BOOL 0-->1 = Reset STO Fault
IMPORTANT Only the data listed in Table 138 is safety data with SIL 3 integrity.