6.2
Safety functions in special mode "Safe standstill"
6.2.1
Safe Torque Off (STO)
Brief description
Using the "Safe Torque Off" function requires the optional safety
technology module "L3" or "L4".
The energy supply to the motor is safely interrupted with the safety function
"Safe Torque Off". The drive cannot generate any torque/force and, as a
consequence, it cannot generate any dangerous motions, either.
Before selecting the safety function "Safe Torque Off", the drive
system must be decelerated via the command value input; drive-
controlled deceleration does not take place!
Lethal injury and/or property damage caused
by unintended axis motion!
WARNING
⇒ If external force influences are to be expected with the safety function
"Safe Torque Off", e.g. in case of a vertical axis, this motion has to be safely
prevented by additional measures, e.g. a mechanical brake or a weight
compensation; for such axes, Bosch Rexroth recommends that you use the
safe braking and holding system.
High electrical voltage! Danger to life, risk of
injury by electric shock or serious injury!
WARNING
During the time a safety function is active, power is not removed from the
motor; de-energize the motor's drive before working on it.
Features
The safety function "Safe Torque Off" (STO) has the following features:
●
When the optional safety technology module "L4" is used and the safety
function "Safe Torque Off" (STO) is selected, the "Safe Brake Control"
(SBC) is automatically activated.
●
Corresponds to stop category 0 according to IEC 60204-1
●
Is suited for safety-relevant applications up to SIL 3 according to
IEC 62061.
●
Is suited for safety-relevant applications up to Category 4, PL e
(IndraDrive Mi with KCU02.2: Category 3, PL e) according to
ISO 13849-1.
●
The energy supply to the motor is safely interrupted via two channels.
●
The selection can take place via two channels, alternatively by means of
–
a passive safety unit with dual-channel, isolated conventional (non-
solid-state) normally closed contacts (e.g., safety switching device
for emergency stop, safety door monitor, etc.) or
–
an active safety unit with plus-plus-switching or plus-minus-
switching OSSD outputs (e.g., safety control units, laser scanners,
etc.).
Bosch Rexroth AG
DOK-INDRV*-SI3-**VRS**-AP06-EN-P
Rexroth IndraDrive Integrated Safety Technology "Safe Torque Off" (as of MPx-16)
50/149
Integrated safety functions
LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01
