Pilz PMCtendo DD5 Operating Manual page 24

Safety
3.4 Stop and E-STOP functions
The safety function STO can protect the drive against unintended start-up when the power
supply is present after standstill (up to SIL CL2 of EN 62061 and PL d of EN 13849-1).
The parameters "STOPMODE" and "ACTFAULT" must be set to 1 if the stop and emer-
gency stop categories are to be implemented. Change the parameters in the commission-
ing software terminal, if necessary (PASmotion).
3.4.1 Stop functions
The stop function is used to bring the machine to a standstill in normal operation.
The stop functions are defined in EN 60204-1.
category 0
Stopping by immediate removal of power to the machine actuators (uncontrolled stop). The
safety function STO can be used for this.
category 1
A controlled stop, with power to the machine actuators available to achieve the stop and
then removal of power when the stop is achieved.
category 2
A controlled stop, with power left available to the machine actuators.
The stop category shall be determined from the hazard analysis of the machine.
Appropriate measures to ensure a reliable stop are also required.
Category 0 or 1 stops shall be operational regardless of the operating mode. A Category 0
stop shall take priority. Stop functions shall operate by de-energising the relevant circuit
and shall override related start functions.
Where required, facilities to connect protective devices and interlocks shall be provided.
Where applicable, the stop function shall signal that such a condition exists. The reset of
the stop function shall not initiate any hazardous conditions.
3.4.2 E-STOP functions
The E-STOP function is used to stop the machine as fast as possible in the case of
danger. The E-STOP function can be initiated by the action of a single person. It must be
functional and available at all times. The user should not have to consider how to operate
the device.
The E-STOP function is defined by EN 60204-1. Principles of E-STOP equipment and func-
tional aspects are established in ISO 13850.
The stop category for the emergency stop shall be determined from the hazard analysis of
the machine.
In addition to the requirements for stop, the emergency stop has the following require-
ments:
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The E-STOP shall override all other functions and operations in all modes.
Power to the machine actuators, which can cause hazardous conditions, shall be
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Operating Manual PMCtendo DD5
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removed as quickly as possible without creating other hazards (e.g. category 0 stop
with safety function STO).
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