9.3.2.2 Switch-off behavior using a digital input (controlled stop)
This is a category 1 stop according to IEC 60204 (➜ # 20).
A digital input can be configured to bring the motor to a controlled stop and then disable the drive and apply the
holding brake (if present). See the WorkBench Online Help for information on configuring Digital Inputs.
If the drive detects the motor to be at zero velocity (AXIS#.ZEROV) or timeout occurs (AXIS#.ZEROT), the motor
brake is applied (➜ # 101).
9.3.2.3 Switch-off behavior using STO input (uncontrolled stop)
This is a category 0 stop according to IEC 60204 (➜ # 20).
The STO input disables the power stage immediately.
If the drive detects the motor to be at zero velocity (AXIS#.ZEROV) or timeout occurs (AXIS#.ZEROT), the motor
brake is applied (➜ # 101). Set parameter AXIS#.MOTOR. BRAKEIMM to 1 with vertical axes, to apply the motor
holding brake immediately after STO.
AKD2G-S Installation Manual, Safety 1
Kollmorgen | kdn.kollmorgen.com | June, 2023 173
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