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8.3
Safety functions in special mode "Safe standstill"
8.3.1
Safety function "Safe torque off (STO)"
Features
The energy supply to the motor is safely interrupted with the safety function
"Safe Torque Off". The motor cannot generate any torque/any force and there-
fore no dangerous movements.
Before directly selecting the safety function "Safe torque off ", the drive system
has to be decelerated via the command value input; drive-controlled decelera-
tion is not carried out!
In the case of indirect selection via the transition function "Safe stop 1 (SS1)",
the drive system is decelerated in accordance with the configuration of the
transition function. Afterwards, switching to "Safe torque off" (STO) takes
place.
Features
The safety function "Safe Torque Off" (STO) has the following features:
● Is suited for safety-relevant applications up to SIL 3 according to EN 62061.
● Is suited for safety-relevant applications up to Category 4, PL e according to
● Corresponds to stop category 0 according to EN 602041.
● The safety function works independently of a measuring system.
● The safety function "Safe torque off" is automatically activated at the end of
● The energy supply to the motor is safely interrupted via two channels.
● The safety function "Safe torque off" is selected via the active "Safe Motion"
● The state of safety function "Safe torque off" is displayed via parameter
● When the safety function "Safe torque off" is active and drive enable is set,
Parameters involved
The following parameters are used in conjunction with the safety function "Safe
Torque Off":
● P‑0‑3255, SMO: Velocity threshold for Safe standstill
● P‑0‑3264, SMO: Safety function selection
● P‑0‑3264.0.1, SMO: Safety function status
● P‑0‑3285.0.1, SMO: Safe standstill configuration
Diagnostic messages involved
The following diagnostic messages may be generated in conjunction with the
safety function "Safe Torque Off":
● A0321 Special mode Safe standstill active with STO
● F2025 Drive not ready for control
● F8354 Error when checking interrupting circuits
With the safety function "Safe torque off" activated, the display of the drive
controller panel shows "SMST1".
R911404905, Edition 02
Safety functions in special mode "Safe standstill"
ISO 13849-1.
the transition function "Safe stop 1 (SS1)"
profile using the parameter ""P‑0‑3264, SMO: Safety function selection".
"P‑0‑3264.0.1, SMO: Safety function status".
the error "F2025 Drive not ready for control" is generated.
ctrlX SAFETY "SafeMotion"
Bosch Rexroth AG
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