text: <s>[INST] Kinetix5100 Micro LC50 Hi Everyone 1st time posting here. I have a Kineti5100, MicroLC50 and downloaded software provided by Rockwell, example code. Dynamic Position Move, using the C_RA_K5100_Index_CmdSts_V2.2 Everything works just fine except for one thing. After issuing a STO function and then resetting the safety. The C_RA_K5100_Index_CmdSts_V2.2 will not reset the STO fault. It will reset all other faults but not this one. I have used the same drive with Compact Logix and that UDFB will clear the STO. Any guidance on resolving this would be appreciated. Thanks, Dennis [/INST] Hello, I have the same problem. I found in the release notes of firmware 1.2, that this fail was fixed in that version, I try updating but stopped working some parts of the PLC-K5100 communication. Try version 2, 3 and 4, same problem (no communicaction). My next step is to change PLC to micro 850 new generation, as it accepts class 1 ethernet ip with new instructions similar to CIP MOTION. I suggest trying version 2, if it works for you, please share. \\n </s>