AKD2G-S Installation Manual, Safety 1 | 10 Safety Manual for FS1
10.3.3.6 Fault Reaction / Failure Messages
With the dual-channel control of the STO (SIL2/PLd Cat.3) safety function, the switch-off paths STO-A-A# and STO-
B-A# are switched separately by two outputs of a safety controller.
W9000 and F9000 are conditioned by the value of AXIS#.SAFE.STO.REPORTFAULT.
AXIS#.SAFE.STO.REPORTFAULT set to 1 (default)
STO-A-A# STO-B-A# ENABLE Drive
Message
Motor
Torque
Safe State
0 V 0 V 0 V W9000 no yes
0 V 0 V +24 V F9000 no yes
+24 V +24 V 0 V - no no
+24 V +24 V +24 V - yes no
+24 V 0 V 0 V F9005* no yes
+24 V 0 V +24 V F9005* no yes
0 V +24 V 0 V F9005* no yes
0 V +24 V +24 V F9005* no yes
* different status of STO-A/B for more than 100 ms
A#: A1 for axis 1 or A2 for axis 2.
AXIS#.SAFE.STO.REPORTFAULT set to 0
STO-A-A# STO-B-A# ENABLE Drive
Message
Motor
Torque
Safe State
0 V 0 V 0 V W9000 no yes
0 V 0 V +24 V W9000 no yes
+24 V +24 V 0 V - no no
+24 V +24 V +24 V - yes no
+24 V 0 V 0 V F9005* no yes
+24 V 0 V +24 V F9005* no yes
0 V +24 V 0 V F9005* no yes
0 V +24 V +24 V F9005* no yes
* different status of STO-A/B for more than 100 ms
A#: A1 for axis 1 or A2 for axis 2.
188 Kollmorgen | kdn.kollmorgen.com | S103, March 2023
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