3.6 Stop / Emergency Stop / Emergency Off
The control functions Stop, Emergency Stop and Emergency Off are defined by IEC 60204.
Notes for functional safety aspects of these functions can be found in ISO 13849 and
IEC 62061.
The parameter AXIS#.DISMODE must be set to implement the different stop categories for
software disabling. Consult the
WorkBench Online Help
for configuring the parameter.
Vertical load could fall!
Serious injury could result when the load is not properly blocked. The internal brake function
does not ensure functional safety.
Functional safety, e.g. with hanging load (vertical axes), requires an additional brake,
controlled e.g. from the other axis or externally from a safety controller. The brakes can
be mapped to an axis with WorkBench.
The Hardware Enable does not initiate a controlled stop but switches off the power stage
immediately.
Set parameter AXIS#.MOTOR.BRAKEIMM to 1 with vertical axes, to apply the brake
immediately after faults or Hardware Disable.
Risk assessment of the application determines the necessary measures.
3.6.1 Stop
The stop function shuts down the machine in normal operation. The stop function is defined
by IEC 60204.
The Stop Category must be determined by a risk evaluation of the machine.
Stop function must have priority over assigned start functions. The following stop categories
are defined:
Stop Category 0
Shut-down by immediate switching-off the energy supply to the drive machinery (this is an
uncontrolled shut-down).
For stop without using safety functions like STO, set AXIS#.DISMODE to 0.
The safety function STO stops the drive as required by Stop Category 0 (IEC 62061).
Stop Category 1
A controlled shut-down, whereby the energy supply to the drive machinery is maintained to
perform the shut-down, and the energy supply is only interrupted when the shut-down has
been completed.
For stop without using safety functions like SS1, set AXIS#.DISMODE to 2.
The safety function SS1 stops the drive as required by Stop Category 1 (IEC 62061).
Stop Category 2
A controlled shut-down, whereby the energy supply to the drive machinery is maintained.
This category shall be realized with a safety function like SS2. Safety function SS2 stops the
drive as required by Stop Category 2 (IEC 62061).
Stop Category 0 and Stop Category 1 stops must be operable independently of the operating
mode, whereby a Category 0 stop must have priority.
If necessary, provision must be made for the connection of protective devices and lock-outs.
If applicable, the stop function must signal its status to the control logic. A reset of the stop
function must not create a hazardous situation.
AKD2G-S Installation Manual, Safety 1 | 3 Product Safety
Kollmorgen | kdn.kollmorgen.com | July 2020
19
