Kollmorgen AKD Installation Manual

4.3 Safe Torque Off (STO)
An additional digital input (STO) releases the power output stage of the drive as long as a 24
V signal is applied to this input. If the STO input goes open-circuit, then power will no longer
be supplied to the motor, and the drive will lose all torque and coast to a stop.
The STO safety implementation on the AKD is certified by the IFA (Institut für Arbeitsschutz
der Deutschen Gesetzlichen Unfallversicherung). The safety circuit implementation for real-
izing the safety function "Safe Torque Off" in the drive is suited for SIL2 according to IEC
61508-2 and PLd, Cat.3 according to ISO 13849-1. The subsystems (AKD drives) are totally
described for safety technics with the characteristic data :
Device Operation Mode ISO 13849-1 IEC 61508-2 PFH [1/h] SFF[%]
STO STO single channel PLd, Cat.3 SIL2 0 20
AKD Installation | 4 Approvals
Kollmorgen™ | May 2013 25

Kollmorgen AKD Specifications

General

Control Modes	Torque, Velocity, Position
Communication Interfaces	EtherCAT, CANopen
Feedback Options	Resolver
Safety	STO (Safe Torque Off), SS1 (Safe Stop 1)
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overtemperature
Operating Temperature Range	0°C to 55°C
Humidity	5% to 95% non-condensing