Siemens SINUMERIK 840D sl Function Manual page 60

Safety Functions Integrated in the Drive
4.2 Safe Torque Off (STO)
Enabling the Safe Torque Off function
The Safe Torque Off function is enabled via the following parameters:
S STO via terminals:
– p9601.0 = 1, p9801.0 = 1
Selecting/deselecting "Safe Torque Off"
The following occurs when Safe Torque Off is selected:
S Every monitoring channel initiates safety–related pulse cancellation via its shut-
down path.
S A motor holding brake (if connected and configured) is closed.
The following occurs when Safe Torque Off is deselected:
S Every monitoring channel withdraws (cancels) the safety–related pulse can-
cellation via its shutdown path.
S The safety prompt "Apply motor holding brake" is canceled.
S Any pending STOP F or STOP A commands are canceled.
Note
If the Safe Torque Off function is deselected and selected again through one
channel within the time in p9650/p9850, the pulses are canceled but a signal is not
output.
If you want a message to be displayed in this case, however, you must reconfigure
N001620/N30620 via p2118 and p2119 as an alarm or fault.
Restart after the Safe Torque Off function has been selected
1. Deselect the function in each monitoring channel via the input terminals.
2. Issue drive enable signals.
3. Cancel the power–on inhibit and power–up again.
4. Move/traverse the drives again.
Status for Safe Torque Off
The status of the Safe Torque Off function is displayed using the following parameters:
S r9772 CO/BO: SI status (Control Unit)
S r9872 CO/BO: SI status (Motor Module)
S r9773 CO/BO: SI status (Control Unit + Motor Module)
S 9774 CO/BO: SI Status (Safe Torque Off group)
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SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) – 05.2008 Edition
© Siemens AG 2008 All Rights Reserved
05.08