text: <s>[INST] Kinetix 5500 and safety PLC I have a Kinetix5500 to control a press system. Limit switches (overtravel) are connected via safety input card on a POINT IO (they are not hardwired to the drive). How can I perform a safe stop of the motor in the safety PLC when these overtravel sensors are reached? thank you [/INST] The K5500 does not take safety commands over Ethernet/IP; it has a safe-torque-off input which disables the drive. I think you would have to receive the limit switches in the safety task, pass the limit switch state over to the regular PLC task. While the regular PLC task performs a controlled stop, the safety task would time-delay before opening the safe-torque-off circuit of the drive to disable it. I think the amount of information you can pass between safety and regular tasks is somewhat constrained. \\n </s>