Implementation Of Stop Categories; Stop Category 0 - Pilz PMCtendo DD5 Operating Manual

Function description
4.6

Implementation of stop categories

The control functions stop, emergency stop, and emergency switching off are defined in the
standard EN 60204. Details for the safety-related aspects of this function can be found in
the standards ISO13849 and IEC 62061 (for further information see Stop, emergency stop
and emergency off functions).
Stop
The stop function stops the drive in normal operation. The stop function is defined in the
standard EN 60204.
The stop category must be determined from a risk assessment of the machine.
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Stop functions must have priority over assigned start functions.
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It must be possible to trigger stops of category 0 and category 1 independently of the
operating mode; the stop category 0 must have priority.
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If necessary, measures have to be taken to connect safety devices and interlocks.
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If necessary, the stop function must signal its status to the control logic.
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A reset of the stop function must not lead to a hazardous situation.
4.6.1

Stop Category 0

Stopping by immediate removal of power to the machine actuators (this is an uncontrolled
stop).
With the safety function STO (Safe Torque Off) the drive can be stopped safely with the in-
ternal electronics of the servo amplifier. The safety function STO is described in the follow-
ing chapter Safety function STO.
4.6.2 Stop Category 1
A controlled stop, with power to the machine actuators available to perform the braking.
The power to the motor is interrupted (switched off or pulse disable), when standstill is
achieved.
Stopping the motor in accordance with Category 1 is performed by removal of power and
controlled, electronic braking (STOPMODE and ACTFAULT parameters set to "1"). The
24 V supply voltage to the servo amplifier must be maintained.
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The drive is braked in a controlled manner as it comes to a stop (disable). If the speed
VEL0 (see timing diagram in the section entitled "Switch on/switch off behaviour") drops
below the set value, the holding brake is applied and the servo amplifier is shut down.
The mains supply and the holding brake are galvanically isolated after the two periods set
separately on the timers have elapsed.
Operating Manual PMCtendo DD5
1002236-EN-04
NOTICE
If there is an internal fault on the servo amplifier, the motor is forcibly braked
once K20 drops out. Make sure that the machine cannot be damaged by
abrupt braking. Frequent forced braking using the holding brake built into
the motor can damage the brake.
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