Function Description
Operating Manual PMCprotego D.48, PMCprotego D.72
1001735-EN-04
84
4.6 Implementation of stop categories
The control functions stop, emergency stop, and emergency switching off are defined in the
standard EN60204. Details for the safety-related aspects of this function can be found in
the standards ISO13849 and IEC62061 (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 EN60204.
The stop category must be determined from a risk assessment of the machine.
} Stop functions must have priority over assigned start functions.
} 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.
} If necessary, measures have to be taken to connect safety devices and interlocks.
} If necessary, the stop function must signal its status to the control logic.
} 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.
Drive-integrated solution
The safety card PMCprotego S from Pilz is used to implement a controlled stop of stop
category 1. The safety function "Safe stop 1 – SS1" must be activated then. Information on
the safety card PMCprotegoS is available in the download area www.pilz.com.
As an alternative, the stop category 1 can be implemented via the control function with aux-
iliary contactors, as described in the following example.
Circuit example emergency stop with stop category 1
Stopping the motor in accordance with Category1 is performed by removal of power and
controlled, electronic braking (STOPMODE and ACTFAULT parameters set to "1"). The
24V supply voltage to the servo amplifier must be maintained.
} 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.
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