Stop / Emergency Stop / Emergency Off; Stop - Kollmorgen AKD series Installation Manual

AKD Installation | 6 Technical description and data

6.15 Stop / Emergency Stop / Emergency Off

The control functions Stop, Emergency Stop and Emergency Off are defined by IEC 60204. Notes for safety
aspects of these functions can be found in ISO 13849 and IEC 62061.
The parameter DRV.DISMODE must be set to 2 to implement the different stop cat-
egories. Consult the AKD User Guide for configuring the parameter.
Functional safety, e.g. with hanging load (vertical axes), requires an additional
mechanical brake which must be safely operated, for example by a safety control.
Set parameter MOTOR.BRAKEIMM to 1 with vertical axes, to apply the motor hold-
ing brake (=> p. 97) immediately after faults or Hardware Disable.

6.15.1 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). With the approved safety function STO (=> p. 52) the drive can be stopped using its internal electronics
(IEC 61508 SIL2).
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.
Stop Category 2
A controlled shut-down, whereby the energy supply to the drive machinery is maintained.
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.
50 Kollmorgen™ | March 2012