2
Description of the safety function STO
Festo – GDCP-CMMS-AS-G2-S1-EN – 1306NH – English
23
2.4.2
Request SS1
The following steps describe the process when requesting the SS1 safety function (
timing diagram
Section 2.4.4):
1. After actuation of the S1 switch (emergency stop switch or opening of the protective doors), the
N/O contact of T1 (13, 14) opens immediately. This results in the immediate removal of controller
enable DIN5 [X1.9]. The brake ramp is begun after no more than 5 ms (t1).
2. The delay of the brake ramp is adjustable via FCT, depending on the application (“Stop-delays” –
“Quick stop”). Dependent on the actual speed value and quick-stop delay, the brake ramp requires
between 0 ms and maximum approx. 10 s (t2).
Determination of the brake time
Section 2.4.5.
3. After speed 0 is reached, the holding brake output BR+ [X6.2] is switched off and the drive is still
regulated down to this setpoint for a time “Times brake” – “Switch-off delay” (t3) that can be para-
meterised. This adjustable time is the delay with which the holding brake of the motor comes down.
This time is dependent on the respective holding brake and must be parameterised by the user,
typically 150 ms.
For applications without holding brake, the time is set to 0 ms.
4. The brake is mechanically closed after the time t12 (50 .. 500 ms), after the electric holding brake
output BR+ [X6.2] has been switched off.
The holding brake is always activated when the “brake ramp time” + set “switch-off
delay” has expired, even if the drive could not stop until then.
5. After the switch-off delay (t3) has expired, the internal output stage enable is switched off after no
more than 5 ms (t4).
6. The delay time of the PNOZ (t5) must be set greater than t1 + t2 + t3 + t4. After the delay time of the
PNOZ has expired, open the two delay contacts of T1 (37, 38 and 47, 48). As a result, control of the
driver supply relay Rel [X3.2] and output stage enable DIN4 [X1.21] are switched off simultaneously.
7. After no more than 12 ms (t
STO
), the output stage is reliably switched off and the STO status is act-
ive.
8. Not later than 30 ms (t6) after removal of control of the driver supply relay Rel [X3.2], the acknow-
ledgment contact NC1/NC2, [X3.5/6] is closed.
9. Not later than 720 ms (t7) after 2-channel request (DIN4 [X1.21]
and
Rel [X3.2] ), “H” is displayed on
the 7-segments display of the motor controller.