I guess there could be an issue with the time the kinematic and drive has to react on an STO signal.
When using an controller via a fieldbus to the the drives you can set that the drive is waiting for an control reaction (like ramping down) before switching to STO. In any case you need to hand over your signal that STO is active to the non safe controller and switch your kinematic to ModeCoordAB, because you need to switch to Ab when activating STO to generate no error. As long as you have active power output to the motor you will always get an error.
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