So it is a new install. I would review the wiring of the drive.
As JsTolaruk noted, the typical circuit for your Safety if not using direct connetions from Safety I/O on a rockwell PLC, would be a wire from S+ that goes through redundant contacts on a safey device and returns to S1 and S2. If you only have one contact on your safety device that returns to S1, then you would need to jumper S1 to S2.
The drive doesn't control the relays from the Safety terminals. These are status inputs from your safety device. Your safety relay would be energized from some other source, likely routed through safety devices such as E-Stop Pushbuttons, Gates, light curtains, pull cords, etc.
If you have a schematic of the drive interconnections, post it and we can make sure it is correct.